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中文摘要：
面向单孔腹腔镜手术特点,设计了一种立体视觉系统,能为磁锚定手术机器人提供清晰的视野并能进行视觉测量。通过深度误差分析和景深的计算进行立体视觉平台的设计。对磁锚定手术机器人建立运动学模型和摄像机模型,并通过立体视觉进行关节向量的视觉测量。控制策略是以全体雅克比的在线估计和角度估计作为更新律。最后,通过仿真验证了控制系统的有效性。
英文摘要：
In response to the characteristics of LaparoEndoscopic Single -site Surgery （LESS）, a stereo vision system is designed to provide a clear view of a magnetic anchor endoluminal surgical robot and to carry out a surgical robot vision measurement. The stereo vision platform is designed through a depth error analysis and field depth calculation. Kinematics models and camera models of magnetic anchor endoluminal surgical robots are set up. The joint vector is measured by stereo vision. Updating law is online estimation of overall Jacobi and angle estimation. At last, a simulation experiment is carried out to demonstrate the effectiveness of the control system.
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