Bronchoscopic interventional surgery robot which constrained by a shear-fork mechanism
文献类型：会议论文
| 作者 | Li J(李杰)3; Han, Chao3; Yu T(于涛)1 ; He X(何啸)1; Jiang, Zhenming2; Sun, Lei2; Liu H(刘浩)1
|
| 出版日期 | 2021 |
| 会议日期 | July 15-19, 2021 |
| 会议地点 | Xining, China |
| 页码 | 319-323 |
| 英文摘要 | To ease the workload of bronchoscopy doctors, reduce the risk of both patients and doctors, and improve the accuracy and flexibility of bronchoscopy and biopsy, in this paper, a kind of bronchoscope interventional robot which constrained by shear-fork mechanism is designed, and the model simulation test is carried out. Based on the full analysis of the operation essentials and techniques of doctor's mirror feeding and biopsy sampling. The interventional robot includes hardware platforms such as operating handle, shear-fork constraint mirror feeding mechanism, upper computer, and so on, cooperating with master-slave control mode, the flexible transportation of the bronchoscope in straight line and rotation, the transportation of the biopsy forceps in a straight line and the opening and closing of the forceps were realized. The validity of the model is verified by the model experiment on the human trachea simulation model. |
| 源文献作者 | IEEE Robotics and Automation Society (RA) ; Shanghai Jiao Tong University ; Shenzhen Institute of Advanced Technology (SIAT) |
| 产权排序 | 3 |
| 会议录 | 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3678-6 |
| 源URL | [http://ir.sia.cn/handle/173321/29685]  |
| 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.Shenyang Institute of Automation, Chinese Academy of Science, State Key Laboratory of Robotics, Shenyang, China 2.First Hospital of China Medical University 3.School of Mechanical Engineering, Shenyang Jianzhu University, Liaoning, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Li J,Han, Chao,Yu T,et al. Bronchoscopic interventional surgery robot which constrained by a shear-fork mechanism[C]. 见:. Xining, China. July 15-19, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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