TY - GEN
T1 - High precise haptic device for the robotic catheter navigation system
AU - Guo, Shuxiang
AU - Qin, Mingyang
AU - Xiao, Nan
AU - Wang, Yuan
AU - Peng, Weili
AU - Bao, Xianqiang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - 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.
AB - 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.
KW - A master-slave robot
KW - Haptic feedback of the master side
KW - Kalman filtering
KW - PID control
UR - http://www.scopus.com/inward/record.url?scp=84991227680&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2016.7558963
DO - 10.1109/ICMA.2016.7558963
M3 - Conference contribution
AN - SCOPUS:84991227680
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 2524
EP - 2529
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 -