A new tele-operating vascular interventional robot for medical applications

Author

Zhao, Honghua ; Duan, Xingguang ; Yu, Huatao ; Wang, Xingtao

Author_Institution

Sch. of Mech. Eng., Univ. of Jinan, Jinan, China

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

1798

Lastpage

1803

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, in this paper, the total tele-operating VIS system was given in brief, then the novel vascular interventional robot including 5-DOF active supporting manipulator and 2-DOF catheter operating system was introduced detailed on the basis of process analysis of VIS. Considering its application particularity, safety design of the manipulator was mentioned accordingly. Experiment showed that the supporting medical manipulator run smoothly and positioned the catheter operating system accurately, which is essential to the safety of medical robot.

Keywords

cardiovascular system; catheters; diseases; manipulators; medical robotics; surgery; telerobotics; 2-DOF catheter operating system; 5-DOF active supporting manipulator; VIS; cardiovascular disease; cerebrovascular disease; fluoroscopic X-ray guidance; medical application; medical manipulator; medical robot; teleoperating vascular interventional robot; vascular interventional surgery; Catheters; Joints; Manipulators; Safety; Surgery; Catheter system; Safety control system; Supporting manipulator; Tele-operating; Vascular interventional surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5986252

Filename

5986252