A study on the interpolation algorithm for the serial-parallel robot-controlled HIFU.
- Author:
Dao-yuan YU
1
;
Fei LUO
;
Liang-zhi FAN
Author Information
1. Mechanical College, Huazhong University of Science and Technology, Wuhan, 430074. d-y-yu@163.com
- Publication Type:Journal Article
- MeSH:
Algorithms;
Artificial Intelligence;
Computer Simulation;
Equipment Design;
Humans;
Robotics;
Ultrasound, High-Intensity Focused, Transrectal;
instrumentation;
methods
- From:
Chinese Journal of Medical Instrumentation
2006;30(4):241-244
- CountryChina
- Language:Chinese
-
Abstract:
According to the hardware characters of the high intensive focused ultrasound (HIFU) serial-parallel robots, this paper presents an algorithm of 2-grade interpolation scheme which includes the rough and fine interpolations. Both pre-acceleration and post-acceleration are employed to meet the restrictive requirements of coordinated dynamic performance and the detailed procedure of the interpolation algorithm is given too.
