CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention
Feng ZQ(奉振球); Zeng-Guang Hou
2015-06
Conference NameIEEE International Conference on Robotics and Automation
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Automation
Conference Date2015.05
Conference PlaceSeattle, USA
Abstract
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.
KeywordMedical Robot Vascular Intervention
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11682
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorZeng-Guang Hou
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Feng ZQ,Zeng-Guang Hou. Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention[C],2015.
Files in This Item: Download All
File Name/Size DocType Version Access License
ICRA 0485.pdf(1523KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Feng ZQ(奉振球)]'s Articles
[Zeng-Guang Hou]'s Articles
Baidu academic
Similar articles in Baidu academic
[Feng ZQ(奉振球)]'s Articles
[Zeng-Guang Hou]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Feng ZQ(奉振球)]'s Articles
[Zeng-Guang Hou]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ICRA 0485.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.