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
专题复杂系统管理与控制国家重点实验室_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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