The Mechanical Design and Control of a Master-Slave Catheter Interventional Surgical Robot

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	The Mechanical Design and Control of a Master-Slave Catheter Interventional Surgical Robot
	Li J(李杰)3; Zheng, Xiong 3; Lin P(林鹏)1; Liang M( 梁明)2; Sun JY(孙景阳)2; Liu H(刘浩)1
	2021
会议日期	October 22-24, 2021
会议地点	Beijing, China
关键词	interventional surgical robot kinematic analysis master-slave control mechanical design
页码	7116-7120
英文摘要	Interventional therapy has become the best way to treat cardiovascular and cerebrovascular diseases due to its advantages over other treatment methods, and has gradually become the "gold standard" for the treatment of cardiovascular and cerebrovascular diseases. In order to obtain higher surgical accuracy and stability, and reduce the doctor's exposure time under X-rays during the operation. This paper proposes a new type of 3-DOF master-slave catheter interventional surgical robot. The continuum manipulator at the end of the robot can achieve bending in two directions, and accurate positioning of the target point can be achieved. The kinematics, mechanics model and its master-slave mapping relationship were established, and the accuracy of the established model was verified through experiments. In vitro experiments were performed on the left atrium model to verify the feasibility of the system.
产权排序	2
会议录	Proceeding - 2021 China Automation Congress, CAC 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-2647-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30799]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.General Hospital of Northern Theater Command, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China
推荐引用方式 GB/T 7714	Li J,Zheng, Xiong,Lin P,et al. The Mechanical Design and Control of a Master-Slave Catheter Interventional Surgical Robot[C]. 见:. Beijing, China. October 22-24, 2021.