In this method, the virtual fixtures(VF) is used to assist task planning at the operator′s side and the impedance control is used, which is robust against the model errors at the slave robot side.
描述了机器人辅助腹腔介入治疗中的手术规划模型和虚拟夹具（VF）方法，研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基于导纳控制的综合控制策略。
Song missed three of Arsenal's first four Premier League fixtures this season through suspension but he has been a virtual ever-present since then and he's satisfied with his form so far.
宋因为禁赛缺席了本赛季前四场英超中的三场，从那以后他一直成为球队中的重要一员，他对自己的表现非常满意。
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