Title :
Design of a Catheter Operating System with Active Supporting Arm for Vascular Interventional Surgery
Author :
Zhao, Honghua ; Duan, Xingguang
Author_Institution :
Sch. of Mech. Eng., Univ. of Jinan, Jinan, China
Abstract :
VIS (Vascular Interventional Surgery), an effective method for cardiovascular and cerebrovascular diseases, is performed under fluoroscopic X-ray guidance, to solve the troubles existing in VIS, catheter operating systems have been developed, 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. Therefore, a new 2-DOF tele-operating catheter system with 5-DOF active supporting arm for medical applications was developed in this paper on the basis of process analysis of VIS, furthermore, a safety control system designed in order to insure the safety of the whole system. Experimental results showed that the supporting arm run smoothly and positioned the catheter manipulator accurately.
Keywords :
cardiology; catheters; control system synthesis; dexterous manipulators; diseases; medical robotics; radiography; surgery; telerobotics; 2-DOF teleoperating catheter system; 5-DOF active supporting arm; VIS method; cardiovascular diseases; catheter operating system design; cerebrovascular diseases; fluoroscopic X-ray guidance; medical applications; passive manipulator; safety control system; vascular interventional surgery; Biomedical imaging; Blood vessels; Catheters; Joints; Robots; Surgery; Wires; Catheter system; Safety control system; Supporting arm; Tele-operating; Vascular interventional surgery;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2011 International Conference on
Conference_Location :
Zhejiang
Print_ISBN :
978-1-4577-0676-9
DOI :
10.1109/IHMSC.2011.47
