Design and performance evaluation of a novel vascular interventional surgery robot

被引：0
|
作者：
Li, Long [1 ]
Huang, Zhihui [1 ]
Tian, Yingzhong [1 ]
Wang, Wenbing [2 ]
Chen, Wei
Li, Zexi [1 ]
Xi, Fengfeng [3 ,4 ]
机构：
[1] Shanghai Univ, Sch Machatron Engn & Automat, Shanghai Key Lab Intelligent Mfg & Robot, Shanghai 200072, Peoples R China
[2] Shenzhen Polytech, Mech & Elect Sch, Shenzhen 518055, Peoples R China
[3] Ryerson Univ, Dept Mech Aerosp & Ind Engn, Toronto, ON M5B 2K3, Canada
[4] Shanghai Key Lab Intelligent Mfg & Robot, Shanghai 200072, Peoples R China
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2018年
基金：
中国国家自然科学基金;
关键词：
SYSTEM; CARDIOLOGISTS; RADIATION;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, aiming at the problems existing in the vascular interventional surgery and the current research status, a vascular interventional surgery robot is designed by utilizing the master-slave control system. First, from the perspective of ergonomics, we design a master manipulator. It allows doctor to operate the medical catheter or guidewire directly during the operation. And then based on the same concept, we design a slave manipulator. It can reproduce the doctor's hand movements and ensure that the medical catheter or guidewire can reach the lesion smoothly in the blood vessels. Finally, the precision of the robot system is verified from the two dimensions of displacement and angle at different master-control ratios. Final results show that the whole interventional surgical robot system can meet the clinical requirements.
引用
收藏
页码：176 / 181
页数：6
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