Study on motion following with feedback force disturbance in interventional surgical robot system
| Autor: | Baofeng Gao, Shuxiang Guo, Yuan Wang, Li Guangxuan, Peng Weili |
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| Rok vydání: | 2016 |
| Předmět: |
Engineering
business.industry Motion detection Control engineering 030204 cardiovascular system & hematology Motion control Motion (physics) 030218 nuclear medicine & medical imaging body regions 03 medical and health sciences 0302 clinical medicine Robotic surgery Manipulator business Wire resistance Surgical robot Simulation ComputingMethodologies_COMPUTERGRAPHICS Haptic technology |
| Zdroj: | 2016 IEEE International Conference on Mechatronics and Automation. |
| DOI: | 10.1109/icma.2016.7558611 |
| Popis: | Neurological intervention surgery (NIS) is surgery branch vascular interventional surgery, one kind of the minimally invasive. And it has become the mainstream of the treatment in the cerebrovascular disease. Robotic surgery system with the functions of haptic feedback and the doctor-patient separation has enormous significance for the development of NIS. However, in previous studies, the haptic feedback greatly affected the motion detection accuracy. This paper presents a novel interventional surgical robot systems. The aim is improving the accuracy of motion control while providing haptic feedback. This researches take the design thought of master-slave system which realized the function of doctor-patient separation. The slave side includes a novel guide wire resistance measurement structure and guide wire manipulator. The master side can provide haptic feedback for doctors and collect guide wire control commands from doctors. In this paper, design of the developed interventional surgical robot system was presented. And design experiments to assess the follow of axial movement, rotation. The feasibility of the developed system is proved. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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