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. Preliminary study for motion scaling based control in minimally invasive vascular interventional robot[C],2015.
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