微创血管介入手术机器人系统的设计与控制 | |
奉振球 | |
2013-07 | |
会议名称 | 中国控制会议 |
会议日期 | 2013.07 |
会议地点 | 西安,中国 |
关键词 | Vascular interventional surgery, Surgical robot, Catheter manipulator, Master-slave control, Speed tracking |
通讯作者 | 侯增广 |
英文摘要 |
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. |
收录类别 | EI |
会议录 | 第32届中国控制会议论文集 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/11685] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | 奉振球. 微创血管介入手术机器人系统的设计与控制[C]. 见:中国控制会议. 西安,中国. 2013.07. |
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