CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Preliminary study for motion scaling based control in minimally invasive vascular interventional robot
Feng ZQ(奉振球); Zeng-Guang Hou
2015-08
Conference Name37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Source PublicationProceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Conference Date2015.08
Conference PlaceMilan, Italy
Abstract
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.
KeywordMedical Robot Motion Scaling Vascular Intervention
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11683
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. Preliminary study for motion scaling based control in minimally invasive vascular interventional robot[C],2015.
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