The Mechanical Design and Control of a Master-Slave Catheter Interventional Surgical Robot
文献类型：会议论文
| 作者 | Li J(李杰)3; Zheng, Xiong3; Lin P(林鹏)2 ; Liang M( 梁明)1; Sun JY(孙景阳)1; Liu H(刘浩)2
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| 出版日期 | 2021 |
| 会议日期 | October 22-24, 2021 |
| 会议地点 | Beijing, China |
| 关键词 | interventional surgical robot kinematic analysis master-slave control mechanical design |
| 页码 | 7116-7120 |
| 英文摘要 | Interventional therapy has become the best way to treat cardiovascular and cerebrovascular diseases due to its advantages over other treatment methods, and has gradually become the "gold standard" for the treatment of cardiovascular and cerebrovascular diseases. In order to obtain higher surgical accuracy and stability, and reduce the doctor's exposure time under X-rays during the operation. This paper proposes a new type of 3-DOF master-slave catheter interventional surgical robot. The continuum manipulator at the end of the robot can achieve bending in two directions, and accurate positioning of the target point can be achieved. The kinematics, mechanics model and its master-slave mapping relationship were established, and the accuracy of the established model was verified through experiments. In vitro experiments were performed on the left atrium model to verify the feasibility of the system. |
| 产权排序 | 2 |
| 会议录 | Proceeding - 2021 China Automation Congress, CAC 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-2647-3 |
| 源URL | [http://ir.sia.cn/handle/173321/30799]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.General Hospital of Northern Theater Command, Shenyang, China 3.Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Li J,Zheng, Xiong,Lin P,et al. The Mechanical Design and Control of a Master-Slave Catheter Interventional Surgical Robot[C]. 见:. Beijing, China. October 22-24, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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