High precise haptic device for the robotic catheter navigation system

Shuxiang Guo, Mingyang Qin, Nan Xiao*, Yuan Wang, Weili Peng, Xianqiang Bao

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)

Abstract

A study on haptic feedback of the master side for an interventional surgical robot system plays a critical important role in the master-slave vascular interventional surgery robot system with haptic feedback, and accuracy control of force feedback is an important means to improve accuracy of the vascular interventional surgery robot teleoperation. Focus on the problem of lacking haptic feedback and accurate control of force feedback in the master-slave interventional surgical robot system, we designed a novel operation control handle in the master, a more in line with the operation of human engineering during the operation process. It can not only get the haptic feedback information from the operation control handle effectively, but also realize the precise force feedback control of the master-slave vascular intervention surgical robot system. The theoretical analysis and the corresponding experimental verification clearly demonstrated that the doctors' operation on the master side is more real and more precise feeling the force feedback information, and effectively improves precision of the master-slave manipulation. The final results show that the accuracy control of force feedback was greatly enhanced in the aspect of reality and the operation efficiency during the doctor operation process.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2524-2529
Number of pages6
ISBN (Electronic)9781509023943
DOIs
Publication statusPublished - 1 Sept 2016
Event13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China
Duration: 7 Aug 201610 Aug 2016

Publication series

Name2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016

Conference

Conference13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Country/TerritoryChina
CityHarbin, Heilongjiang
Period7/08/1610/08/16

Keywords

  • A master-slave robot
  • Haptic feedback of the master side
  • Kalman filtering
  • PID control

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