Design of coaxial intervention catheter robot for Endoscopic Retrograde Cholangio-Pancreatography
文献类型：会议论文
| 作者 | Wu WJ(武文杰)2,3,5; Jiang W(江维)1,3,5 ; Xu SW(许世伟)2,3,5; Yu T(于涛)3,4,5; He X(何啸)3,4,5; Tian FJ(田凤杰)2; Liu H(刘浩)2,3,4,5
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| 出版日期 | 2020 |
| 会议日期 | November 6-8, 2030 |
| 会议地点 | Shanghai, China |
| 关键词 | edical robot coaxial intervention mechanics design control scheme ERCP |
| 页码 | 6712-6716 |
| 英文摘要 | Due to the high incidence of biliary and pancreatic diseases, ERCP (Endoscopic Retrograde Cholangio-Pancreatography) is widely used as an effective method for treating biliary and pancreatic diseases. However, the location of biliary and pancreatic diseases is special, and the currently used ERCP surgical instruments are not flexible enough to make the intubation process difficult and cause damage to human tissues. This paper presents a new type of coaxial catheter intervention robot, which is composed of a flexible mechanical arm, a driving mechanism, and a guide wire conveying mechanism. The robot is coaxially transported to the nipple through the duodenoscope, which can provide the doctor with a clear surgical field of vision. The 2-degree-of-freedom flexible manipulator can bend in four directions, so that the direction of the catheter is as consistent as possible with the axis of the cholangiopancreatic duct, thus simplifying insertion Tube process. After the prototype was manufactured, the biliary and pancreatic duct model intervention experiment was carried out. The experiment verified the feasibility of the flexible robot system. The experimental results showed that compared with manual intubation, the efficiency is higher and the operation difficulty is lower. |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2020 Chinese Automation Congress, CAC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-7687-1 |
| WOS记录号 | WOS:000678697006152 |
| 源URL | [http://ir.sia.cn/handle/173321/28376]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu H(刘浩) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.Mechatronic Engineering, Shenyang Ligong University, Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 4.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, China 5.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Wu WJ,Jiang W,Xu SW,et al. Design of coaxial intervention catheter robot for Endoscopic Retrograde Cholangio-Pancreatography[C]. 见:. Shanghai, China. November 6-8, 2030. |
入库方式： OAI收割
来源：沈阳自动化研究所
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