Knowledge Commons of Institute of Automation,CAS
Preliminary study for motion scaling based control in minimally invasive vascular interventional robot | |
Feng ZQ(奉振球); Zeng-Guang Hou | |
2015-08 | |
会议名称 | 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society |
会议录名称 | Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society |
会议日期 | 2015.08 |
会议地点 | Milan, Italy |
摘要 |
Robot-assisted vascular interventions present promising trend for reducing the X-ray radiation to the surgeon during the operation. However, the control methods in the current vascular interventional robots only repeat the manipulation of the surgeon. While under certain circumstances, it is necessary to scale the manipulation of the surgeon to obtain a higher precision or a shorter manipulation time. A novel control method based on motion scaling for vascular interventional robot is proposed in this paper. The main idea of the method is to change the motion speed ratios between the master and the slave side. The motion scaling based control method is implemented in the vascular interventional robot we’ve developed before, so the operator can deliver the interventional devices under different motion scaling factors. Experiment studies verify the effectiveness of the motion scaling based control. |
关键词 | Medical Robot Motion Scaling 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/173211/11683 |
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. Preliminary study for motion scaling based control in minimally invasive vascular interventional robot[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 | ||
12752268.pdf(1070KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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