TY - GEN
T1 - Mechanical design and control system of vascular interventional robot
AU - Zhao, Honghua
AU - Duan, Xingguang
AU - Huang, Qiang
AU - Wang, Xingtao
AU - Chen, Yue
AU - Yu, Huatao
PY - 2011
Y1 - 2011
N2 - Cardiovascular and cerebrovascular disease, one of three major human malignancy diseases, leads to more than 17 million people deaths every year. As VIS(Vascular Interventional Surgery) is an effective method for the disease, considering actual operation needs and difficult problems such as surgical complexity, poor controllability and long irradiation time, a robotic surgical system was designed to assist surgeons on manipulating. In this paper, gave the total VIS system in brief, then the novel vascular interventional robot including 5-DOF active support manipulator and 2-DOF catheter operating system was introduced detailedly on the basis of process analysis of VIS. Considering its application particularity, safety design of the manipulator was mentioned accordingly. Experimental results showed that the vascular interventional robot has multiple advantages such as novel structure, flexible control, high locating precision compared to conventional manipulators. The development of this medical robot system contributes to the promotion and popularization of the VIS in clinics.
AB - Cardiovascular and cerebrovascular disease, one of three major human malignancy diseases, leads to more than 17 million people deaths every year. As VIS(Vascular Interventional Surgery) is an effective method for the disease, considering actual operation needs and difficult problems such as surgical complexity, poor controllability and long irradiation time, a robotic surgical system was designed to assist surgeons on manipulating. In this paper, gave the total VIS system in brief, then the novel vascular interventional robot including 5-DOF active support manipulator and 2-DOF catheter operating system was introduced detailedly on the basis of process analysis of VIS. Considering its application particularity, safety design of the manipulator was mentioned accordingly. Experimental results showed that the vascular interventional robot has multiple advantages such as novel structure, flexible control, high locating precision compared to conventional manipulators. The development of this medical robot system contributes to the promotion and popularization of the VIS in clinics.
KW - Mechanical design
KW - Vascular interventional robot
KW - Vascular interventional surgery
KW - control system
KW - safety design
UR - http://www.scopus.com/inward/record.url?scp=79959936696&partnerID=8YFLogxK
U2 - 10.1109/ICCME.2011.5876765
DO - 10.1109/ICCME.2011.5876765
M3 - Conference contribution
AN - SCOPUS:79959936696
SN - 9781424493241
T3 - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
SP - 357
EP - 362
BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Y2 - 22 May 2011 through 25 May 2011
ER -
