Inverse kinematics based point-tracking strategy of master-slave robotic catheter intervention
文献类型：会议论文
| 作者 | Gao AZ(高安柱) ; Liu H(刘浩); Zhou YY(周圆圆); Li HY(李洪谊)
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| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 |
| 会议日期 | December 5-10, 2014 |
| 会议地点 | Bali, Indonesia |
| 页码 | 1668-1672 |
| 通讯作者 | 高安柱 |
| 中文摘要 | This paper presents the point-tracking strategy of master-slave robotic catheter intervention, which integrates with the distal/proximal and virtual force. First, the mapping between the motion space of master handle and the space of vascular model is built up. Second, the close-loop control based on the inverse kinematics is developed with the compensation of backlash. Third, proximal force, distal force and virtual force are provided to assist the surgeons to perform the procedure safely. Finally, the catheterization is performed in the vascular silicon model to verify the effectiveness. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Harbin Institute of Technology; IEEE Robotics and Automation Society; National University of Defense Technology; Shenzhen Institutes of Advanced Technology, CAS; State Key Laboratory of Robotics and Systems |
| 会议录 | 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-7396-5 |
| WOS记录号 | WOS:000380399500277 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16115]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Gao AZ,Liu H,Zhou YY,et al. Inverse kinematics based point-tracking strategy of master-slave robotic catheter intervention[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Bali, Indonesia. December 5-10, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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