Title :
Design and control of a robotic system for minimally invasive vascular interventional surgery
Author :
Feng Zhenqiu ; Xie Xiao-Liang ; Bian Gui-bin ; Wei Peng ; Hou Zeng-Guang ; Tan Min ; Wang Hongbo
Author_Institution :
State Key Lab. of Manage. & Control for Complex Syst., Inst. of Autom., Beijing, China
Abstract :
The design and control methods of robotic system for vascular interventional surgery is studied in this paper. By considering the characteristics of vascular interventional surgery and operation habits of surgeon, a master-slave remote control catheter system is presented. The system consists of three parts: the operation handle, the catheter manipulator and the host computer. The operation handle is designed to simulate the surgeon´s surgical procedure, and the catheter manipulator tracks the handle´s movements in both translation and rotation directions. Real time communication between the operation handle and the catheter manipulator has been built based on the host computer. Effectiveness and speed tracking performance between the catheter manipulator and the handle was validated by simulation experiments on a human vascular model.
Keywords :
blood vessels; cardiology; catheters; manipulators; medical robotics; object tracking; surgery; telerobotics; catheter manipulator; handle movement tracking; host computer; human vascular model; master-slave remote control catheter system; minimally invasive vascular interventional surgery; operation handle design; real time communication; robotic system control; robotic system design; rotation direction; speed tracking performance; surgeon operation habits; surgeon surgical procedure simulation; translation direction; Catheters; Control systems; Educational institutions; Electronic mail; Manipulators; Surgery; Catheter manipulator; Master-slave control; Speed tracking; Surgical robot; Vascular interventional surgery;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
