Tianliang LI, Yongwen ZHU, Jiajun LI, Jun WANG, Wei MENG, Yuegang TAN. Fiber-optic navigation of approach attitude for transnasal flexible surgical robot[J]. Optics and Precision Engineering, 2024, 32(19): 2861
- Optics and Precision Engineering
- Vol. 32, Issue 19, 2861 (2024)
Fig. 1. Transnasal flexible surgical robot system
Fig. 2. Kinematics principle of flexible manipulator
Fig. 3. In-situ calibration method based on binocular vision
Fig. 4. Flow chart of attitude reconstruction algorithm based on ELM
Fig. 5. Bending performance test and analysis of flexible manipulator
Fig. 6. Load capacity test analysis
Fig. 7. Test analysis of in-situ attitude calibration based on data-driven
Fig. 8. Attitude reconstruction testing and error analysis of large bending deformation for flexible manipulator-1 and dual-arm cooperative operation
Fig. 9. Analysis of end tracking test for flexible manipulator
Fig. 10. Analysis of maintenance testing for flexible manipulator
Fig. 11. Simulation experiment setup and analysis of transnasal approach
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Table 1. Design parameters of spherical hinge unit
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Table 2. Error of attitude reconstruction in simulation experiment
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Table 3. Comparison of this paper with other fiber optic navigation methods
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