TY - GEN
T1 - Study on inhibition of inaccurate operation for remote-controlled vascular interventional robot
AU - Bao, Xianqiang
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Guo, Yangming
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/5
Y1 - 2018/10/5
N2 - 'Remote-controlled vascular interventional surgery robots (RVIR) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase accuracy and stability of surgery operation. However, inaccurate replicated motion on slave side will result in incorrect operation, or even medical accident. To prevent the inaccurate operation, the method that shuts down the power source or switches off the connection between the master controller and the slave manipulator is typically used. These methods will restrict the continuity of operation and the dexterity of a surgeon. In this paper, a novel RVIR integrated with a bimodal gripping mechanism was designed and its performance was evaluated by experiment. The results demonstrated that the incorrect operations can be eliminated without restricting the continuity of operation and the dexterity of a surgeon by using different clamping forces.
AB - 'Remote-controlled vascular interventional surgery robots (RVIR) are being developed to reduce the occupational risk of the intervening physician, such as radiation, chronic neck and back pain, and increase accuracy and stability of surgery operation. However, inaccurate replicated motion on slave side will result in incorrect operation, or even medical accident. To prevent the inaccurate operation, the method that shuts down the power source or switches off the connection between the master controller and the slave manipulator is typically used. These methods will restrict the continuity of operation and the dexterity of a surgeon. In this paper, a novel RVIR integrated with a bimodal gripping mechanism was designed and its performance was evaluated by experiment. The results demonstrated that the incorrect operations can be eliminated without restricting the continuity of operation and the dexterity of a surgeon by using different clamping forces.
KW - Inaccurate operation
KW - Minimally invasive surgery
KW - Remote-controlled vascular interventional surgery robot (RVIR)
UR - http://www.scopus.com/inward/record.url?scp=85056313126&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2018.8484294
DO - 10.1109/ICMA.2018.8484294
M3 - Conference contribution
AN - SCOPUS:85056313126
T3 - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
SP - 603
EP - 607
BT - Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
Y2 - 5 August 2018 through 8 August 2018
ER -