TY - GEN
T1 - A novel force feedback interventional surgery robotic system
AU - Peng, Weili
AU - Xiao, Nan
AU - Guo, Shuxiang
AU - Wang, Yuan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/2
Y1 - 2015/9/2
N2 - The interventional therapy combining with modern high technologies, is a kind of minimally invasive treatment. In order to achieve pathological diagnosis and local treatment, catheter and guide wire are delivered to patients' lesions through their blood vessel with the guidance of DSA image. Interventional therapy has advantages of small trauma, rapid recovery. And it has become the developing trend of the future medicine. Presently, the interventional treatment has some shortages. For instance, the patients could not be separated from the surgeons. Also, it is difficult to measure the front collision force of the guide wire. To solve this problem mentioned above, the phantom omni was used as the master controller, and a new novel of interventional operation slave system equipped with force feedback structures was designed. Fuzzy PID looped control was adopted in this system, and the dynamic performance of the surgery robotic system was analysed in this paper.
AB - The interventional therapy combining with modern high technologies, is a kind of minimally invasive treatment. In order to achieve pathological diagnosis and local treatment, catheter and guide wire are delivered to patients' lesions through their blood vessel with the guidance of DSA image. Interventional therapy has advantages of small trauma, rapid recovery. And it has become the developing trend of the future medicine. Presently, the interventional treatment has some shortages. For instance, the patients could not be separated from the surgeons. Also, it is difficult to measure the front collision force of the guide wire. To solve this problem mentioned above, the phantom omni was used as the master controller, and a new novel of interventional operation slave system equipped with force feedback structures was designed. Fuzzy PID looped control was adopted in this system, and the dynamic performance of the surgery robotic system was analysed in this paper.
KW - Force feedback
KW - Fuzzy PID
KW - Master-slave system
KW - Minimally invasive interventional surgery
UR - http://www.scopus.com/inward/record.url?scp=84955254263&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2015.7237572
DO - 10.1109/ICMA.2015.7237572
M3 - Conference contribution
AN - SCOPUS:84955254263
T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
SP - 709
EP - 714
BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Y2 - 2 August 2015 through 5 August 2015
ER -