Minimally invasive vascular intervention is an important treatment for the coronary heart disease. High-precision catheter and guidewire delivery are required in the operation. Bene¯ted from the high accuracy and remote operation of the robot technology, the development of vascular interventional robot has attracted increasing attention. During the intervention, according to the distal end position of the guidewire/catheter, the procedure of device delivery could be divided into three stages. 1) Aorta stage: the distal end of the guidewire/catheter is in the aorta. High delivery speed is required in this stage to minimize the dosage of the X-ray and the contrast medium. 2) Coronary artery ostium stage: the distal end of the guidewire/catheter approaches the ostium of the coronary artery, and the guidewire is rotated to enter the speci¯c artery. 3) Stenotic coronary artery stage: the distal end of the guidewire is at the stenosis, high accuracy manipulation is required. Motion scaling based master-slave control is presented for di®erent stages of the device delivery. By changing the motion scaling factor between the master side and the slave side of the vascular interventional robot, the manipulation of the master side is magni¯ed, mini¯ed or equally repeated at the slave side. Experiments of the minimally invasive vascular interventional robot has validated the feasibility and e®ectiveness of the scaling. The
manipulation time is reduced by 39.9% when the scaling factor is 4, and the accuracies of translation and rotation are improved by 72.9% and 77.1 %, respectively under scaling factor 1/4.
|Keyword||医疗机器人 血管介入手术 运动缩放 主从控制|
|奉振球,侯增广. 微创血管介入手术机器人的主从交互控制方法与实现[J]. 自动化学报,2016,42(5):696-705.|
|MLA||奉振球,et al."微创血管介入手术机器人的主从交互控制方法与实现".自动化学报 42.5(2016):696-705.|
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