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- W4320148085 abstract "In order to make a breakthrough in the bottleneck of the current technology of medical robots, this article focuses on the problem of difficult human position precision control of the fracture reduction machine, introducing the digital twin into the construction of the robot reduction surgical systems. And we propose a solution from the high-level control architecture to the terminal controller optimization. Firstly, there is no effective connection between the current clinical surgical pathological data acquisition and robot control system. In this paper, the key factor of robot control--force position control accuracy is taken as the specific object, and a closed-loop technical framework for force position error is constructed. In addition, the existing construction methods of force bit control cannot meet the dynamics of human-computer interaction. Therefore, this paper tries to deeply integrate the robot dynamics mechanism model, real data and finite element three-dimensional model, and proposes a dynamic model method with additional robot dynamic mechanism. Besides, according to the environmental complexity problem in the process of force bit control. A multimodal fusion control scheme is proposed to design a high-precision force bit controller by using intraoperative multi-source information." @default.
- W4320148085 created "2023-02-13" @default.
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- W4320148085 date "2022-01-01" @default.
- W4320148085 modified "2023-10-16" @default.
- W4320148085 title "Research on the Key Technology of Digital Twin-Driven Fracture Reduction Robot Force Control" @default.
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- W4320148085 doi "https://doi.org/10.1007/978-981-19-8915-5_24" @default.
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