TY - GEN
T1 - Characteristic Evaluation of a Master-Slave Interventional Surgical Robot Control System
AU - Guo, Shuxiang
AU - Yang, Cheng
AU - Bao, Xianqiang
AU - Xiao, Nan
AU - Shen, Rui
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Remotely controlled vascular interventional robots can improve the overall accuracy of surgery and reduce the occupational risks of interventionalists, such as radiation exposure and back pain. Related products currently available are capable of accurately operating a catheter or guide-wire. However, the lack of cooperation between the catheter and the guide-wire prevents the surgeon from performing complex surgery. In addition, ensuring the accuracy of remote control is also a major difficulty in research. In this paper, we introduce a surgical robot that allows the catheter and guide-wire to operate simultaneously and its control strategy. Animal experiments have been carried out to demonstrate the feasibility of the proposed robot to accurately operate the catheter and guide-wire, detect resistance and perform complex surgical procedures in a cooperative manner.
AB - Remotely controlled vascular interventional robots can improve the overall accuracy of surgery and reduce the occupational risks of interventionalists, such as radiation exposure and back pain. Related products currently available are capable of accurately operating a catheter or guide-wire. However, the lack of cooperation between the catheter and the guide-wire prevents the surgeon from performing complex surgery. In addition, ensuring the accuracy of remote control is also a major difficulty in research. In this paper, we introduce a surgical robot that allows the catheter and guide-wire to operate simultaneously and its control strategy. Animal experiments have been carried out to demonstrate the feasibility of the proposed robot to accurately operate the catheter and guide-wire, detect resistance and perform complex surgical procedures in a cooperative manner.
UR - http://www.scopus.com/inward/record.url?scp=85064130099&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8665224
DO - 10.1109/ROBIO.2018.8665224
M3 - Conference contribution
AN - SCOPUS:85064130099
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 421
EP - 425
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -