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Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention | |
Feng ZQ(奉振球); Zeng-Guang Hou | |
2015-06 | |
会议名称 | IEEE International Conference on Robotics and Automation |
会议录名称 | Proceedings of the 2015 IEEE International Conference on Robotics and Automation |
会议日期 | 2015.05 |
会议地点 | Seattle, USA |
摘要 |
The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation.
Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver the interventional devices in PCIs. The system is designed in the master-slave way which helps the surgeons to reduce the exposure to radiation. The mechanism of the DRH is bio-inspired and motions are
decoupled in kinematics. In PCI procedures, the accuracy of the guidewire delivery and the catheter tip placement have significant effects on the surgical results. The performances of the DRH in delivering the guidewire and the balloon/stent catheter were evaluated by three surgical manipulations. The results show that the DRH has the ability to deliver the guidewire and the balloon/stent catheter precisely. |
关键词 | Medical Robot Vascular Intervention |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/11682 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Zeng-Guang Hou |
作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Feng ZQ,Zeng-Guang Hou. Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention[C],2015. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
ICRA 0485.pdf(1523KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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