TY - GEN
T1 - Study on slave side of interventional surgery robotic system focused on the feed-back force detection
AU - Yan, Zhao
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Wang, Yuan
AU - Li, Guangxuan
AU - Peng, Weili
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - Minimally invasive interventional surgery shows its advantages compared to traditional operation. The master-slave robotic system technology can further significantly improve the accuracy, efficiency and safety of this complicated and high risk operation. However, one of the critical issues in the robotic system, guide wire force feed-back, needs more research. The mechanical structure of the salve robot is designed basing on modularizing design principle. Ball spline pair, guide pair and herringbone gear pair are adopted in the structure concept. The experimental equipment is developed and the verifying experiments are conducted. The guide wire detected feedback force matches well with the detected resistance force. It indicates that the designed slave part and design method is rational from the point of feedback force detection.
AB - Minimally invasive interventional surgery shows its advantages compared to traditional operation. The master-slave robotic system technology can further significantly improve the accuracy, efficiency and safety of this complicated and high risk operation. However, one of the critical issues in the robotic system, guide wire force feed-back, needs more research. The mechanical structure of the salve robot is designed basing on modularizing design principle. Ball spline pair, guide pair and herringbone gear pair are adopted in the structure concept. The experimental equipment is developed and the verifying experiments are conducted. The guide wire detected feedback force matches well with the detected resistance force. It indicates that the designed slave part and design method is rational from the point of feedback force detection.
KW - Feedback force detection
KW - Master-Slave system
KW - Minimally invasive interventional surgery
KW - Surgery Robot
UR - https://www.scopus.com/pages/publications/84991223461
U2 - 10.1109/ICMA.2016.7558600
DO - 10.1109/ICMA.2016.7558600
M3 - Conference contribution
AN - SCOPUS:84991223461
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 420
EP - 425
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -