TY - GEN
T1 - Structure design and master-slave control system of a vascular interventional robot
AU - Wang, Xing Tao
AU - Duan, Xing Guang
AU - Huang, Qiang
AU - Gao, Cong Jun
AU - Gao, Xue Shan
AU - Liu, Da
AU - Liu, Bo
PY - 2011
Y1 - 2011
N2 - Conventional vascular interventional surgery (VIS) is performed under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system Furthermore, traditional control systems can't satisfy clinical requirements of radiation protecting. Therefore, a novel Active Supporting Medical Manipulator (ASMM) was developed to accurately position and firmly hold catheter operating system and master-slave control system was adopted to protect surgeons from X-ray exposure. In the paper, the structure of ASMM was synthesized and optimized. Master-slave control system structure was proposed and implemented based on vascular 3D reconstruction after digital subtraction angiography (DSA) image correction. Finally, experiments showed the validity of optimized ASMM and feasibility of robotic system with master-slave control system.
AB - Conventional vascular interventional surgery (VIS) is performed under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system Furthermore, traditional control systems can't satisfy clinical requirements of radiation protecting. Therefore, a novel Active Supporting Medical Manipulator (ASMM) was developed to accurately position and firmly hold catheter operating system and master-slave control system was adopted to protect surgeons from X-ray exposure. In the paper, the structure of ASMM was synthesized and optimized. Master-slave control system structure was proposed and implemented based on vascular 3D reconstruction after digital subtraction angiography (DSA) image correction. Finally, experiments showed the validity of optimized ASMM and feasibility of robotic system with master-slave control system.
UR - https://www.scopus.com/pages/publications/84860764984
U2 - 10.1109/ROBIO.2011.6181294
DO - 10.1109/ROBIO.2011.6181294
M3 - Conference contribution
AN - SCOPUS:84860764984
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 252
EP - 257
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -