TY - GEN
T1 - Controller design for a robotic catheter teleoperation system
AU - Xiao, Nan
AU - Guo, Shuxiang
AU - Gao, Baofeng
AU - Ma, Xu
AU - Tamiya, Takashi
AU - Kawanishi, Masahiko
PY - 2012
Y1 - 2012
N2 - Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed system consists of two parts, one is the surgeon console and the other one is the catheter manipulator. The surgeon's console is designed to simulate the surgeon's operating procedure, and the catheter manipulator takes the same movement motion with the controller. Therefore, the force feedback could be realized easily. In the paper, the mechanism of the system is introduced in detail. Controllers are designed for both two parts. The dynamic performance of the system is discussed in the paper.
AB - Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed system consists of two parts, one is the surgeon console and the other one is the catheter manipulator. The surgeon's console is designed to simulate the surgeon's operating procedure, and the catheter manipulator takes the same movement motion with the controller. Therefore, the force feedback could be realized easily. In the paper, the mechanism of the system is introduced in detail. Controllers are designed for both two parts. The dynamic performance of the system is discussed in the paper.
KW - MIS
KW - Robotic Catheter System
KW - Teleoperation
UR - http://www.scopus.com/inward/record.url?scp=84867617120&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6282868
DO - 10.1109/ICMA.2012.6282868
M3 - Conference contribution
AN - SCOPUS:84867617120
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 353
EP - 358
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -