CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
微创血管介入手术机器人系统的设计与控制
奉振球; 侯增广
2013-07
Conference Name中国控制会议
Source Publication第32届中国控制会议论文集
Conference Date2013.07
Conference Place西安,中国
Other Abstract
The design and control methods of robotic system for vascular interventional surgery is studied in this paper. By considering the characteristics of vascular interventional surgery and operation habits of surgeon, a master-slave remote control catheter system is presented. The system consists of three parts: the operation handle, the catheter manipulator and the host computer. The operation handle is designed to simulate the surgeon’s surgical procedure, and the catheter manipulator tracks the handle’s movements in both translation and rotation directions. Real time communication between the operation handle and
the catheter manipulator has been built based on the host computer. Effectiveness and speed tracking performance between the catheter manipulator and the handle was validated by simulation experiments on a human vascular model.
KeywordVascular Interventional Surgery Surgical Robot Catheter Manipulator Master-slave Control Speed Tracking
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11685
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding Author侯增广
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
奉振球,侯增广. 微创血管介入手术机器人系统的设计与控制[C],2013.
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