RESUMEN
An angular measuring system is the most important component of high-precision test turntables; its function and precision determine the turntable's function and precision. The angular measuring system's error was considered as a stationary signal in the past. An autocorrelation function and spectrum characteristics of the angular measuring system error are analyzed using the cyclostationary signal theory. The idea that the error in the angular measuring system is nonstationary is first put forward; theory is provided to reconstruct the angular measuring system's error signal using wavelet analysis. The error signal is reconstructed using one-dimensional Mallat's algorithm. The standard deviation between the reconstructed and the original signal is much less than the angular measuring system's accuracy. The reconstruction signal is used to compensate the system error instead of the original error signal; the angular measuring system accuracy is improved.
RESUMEN
Based on the analysis of the workspace and positioning procedure for using the HIFU Surgery Platform, a simplified representation of the tumor volume's location and orientation in the workspace by Positioning Volume Ellipsoid is proposed. The terminal and intermediate configuration which the ultrasound focus must pass through during positioning is determined; according to the decided configurations, a C2 continuous uniform interpolating B spline positioning path is constructed in Lie Group SE (3); and a case analysis is made at last.
Asunto(s)
Humanos , Diseño de Equipo , Neoplasias , Cirugía General , Robótica , Cirugía Asistida por Computador , Equipo Quirúrgico , UltrasonidoRESUMEN
Robots are being more and more used in surgery. High Intensity Focused Ultrasound is newly used in tumor treatment and it is non invasive. In this paper, we introduced a Robot integrated HIFU surgery system and its general flow. Also introduced is an 8 DOF surgical platform, its design, its mechanism and its kinematic analysis. In the end, we give out two spatial working areas individually. Each is the combination of 5 dimensional motions. Compared with other platforms available, this surgery platform is more flexible and accurate and its treatment area is larger. All these advantages make the treatment design easier.