Title :
Design of a novel master-slave robotic system for minimally intravascular invasive surgery
Author :
Zhang, Peng ; Yu, Shichao ; Hu, Ying ; Ma, Xin ; Zhang, Jianwei
Author_Institution :
Shenzhen Institutes of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China
Abstract :
A novel master-slave robotic system has been proposed for minimally intravascular invasive surgery. The robotic system is composed of guide wire insertion mechanism with force feedback, catheter insertion mechanism and force feedback device. And the working principle and control system diagram are also introduced. This system can reduce the usage of X-rays, guarantee the safety and efficiency, and help the manipulators to complete the intravascular invasive surgery without change the operating habit.
Keywords :
catheters; force feedback; medical robotics; surgery; catheter insertion mechanism; control system diagram; force feedback device; guide wire insertion mechanism; intravascular invasive surgery; manipulators; master-slave robotic system; Catheters; Force; Force feedback; Robots; Surgery; Torque; Wires; Intravascular invasive surgery; catheter mechanism; force feedback; master-slave; surgery robot;
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8113-2
DOI :
10.1109/ICMA.2011.5985667
