TY - GEN
T1 - Structure synthesis and optimization of a supporting medical manipulator for vascular interventional surgery
AU - Wang, Xing Tao
AU - Duan, Xing Guang
AU - Huang, Qiang
AU - Zhao, Hong Hua
AU - Chen, Yue
AU - Chen, Chao
PY - 2011
Y1 - 2011
N2 - Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.
AB - Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.
KW - Medical Robot
KW - Structure Synthesis and Optimization
KW - Vascular Interventional Surgery
UR - https://www.scopus.com/pages/publications/81055131796
U2 - 10.1109/ICMA.2011.5985642
DO - 10.1109/ICMA.2011.5985642
M3 - Conference contribution
AN - SCOPUS:81055131796
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 118
EP - 123
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 -