• 主题
高级搜索  >
历史搜索 清空历史
首页> 中文期刊> 《天津大学学报：英文版》 >Method for Latency Measurement of Visual Feedback-Based Master–Slave Minimally Invasive Surgical Robot

Method for Latency Measurement of Visual Feedback-Based Master–Slave Minimally Invasive Surgical Robot

         
页面导航
  • 摘要
  • 著录项
  • 相关主题

摘要

To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations of input and output events through image-processing technology. This method used a black bar to keep pace with the measured joint rotating at a number of speeds. During tests,an external camera was placed in front of the apparatus with a proper visual field,so that it can simultaneously view orientations of both bars fixed on the corresponding joints. After quantitatively analyzing the accuracy of the proposed measurement method,the method was applied to a visual feedback-based master–slave robotic system with two-degrees-of-freedom. Experimental results show that the latency of the overall system was approximately 250 ms,and the opposite clearance of the measured joint was in the range of 1.7°–1.9°.

著录项

获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号