TY - GEN
T1 - Feasibility study for a novel robotic catheter system
AU - Guo, Jian
AU - Guo, Shuxiang
AU - Xiao, Nan
AU - Ma, Xu
AU - Yoshida, Shunichi
AU - Tamiya, Takashi
AU - Kawanishi, Masahiko
PY - 2011
Y1 - 2011
N2 - This paper presents a novel robotic catheter system for MIS (minimally invasive surgery), we developed a PID controller to the robotic catheter system for improving the stability and consistency, and also, we do the experiment to evaluate the feasibility of developed PID controller, the developed robotic catheter system can be used for training unskilled surgeons to do the operation of intravascular neurosurgery. The novel robotic catheter operating system has good maneuverability, it can simulate surgeon's operating skill to insert and rotate catheter. The characteristic evaluations (rotating motion and inserting motion) have also been done to verify the validity of the system, the experimental results indicated that the stability and responsibility of system were good, the robotic catheter system was fitting to be used for training unskilled surgeons to do the operation of intravascular neurosurgery.
AB - This paper presents a novel robotic catheter system for MIS (minimally invasive surgery), we developed a PID controller to the robotic catheter system for improving the stability and consistency, and also, we do the experiment to evaluate the feasibility of developed PID controller, the developed robotic catheter system can be used for training unskilled surgeons to do the operation of intravascular neurosurgery. The novel robotic catheter operating system has good maneuverability, it can simulate surgeon's operating skill to insert and rotate catheter. The characteristic evaluations (rotating motion and inserting motion) have also been done to verify the validity of the system, the experimental results indicated that the stability and responsibility of system were good, the robotic catheter system was fitting to be used for training unskilled surgeons to do the operation of intravascular neurosurgery.
KW - MIS (minimally invasive surgery)
KW - PID controller
KW - catheter
KW - master-slave system
UR - http://www.scopus.com/inward/record.url?scp=81055124272&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985657
DO - 10.1109/ICMA.2011.5985657
M3 - Conference contribution
AN - SCOPUS:81055124272
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 205
EP - 210
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -