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Alternative TitleResearch of Force Feedback and Control Based on Catheter Insertion Robotic System
李言民; 刘浩; 闫杰
Conference Name2013 32nd Chinese Control Conference
Conference DateJuly 26-28, 2013
Conference PlaceXi'an, China
Source PublicationProceedings of the 32nd Chinese Control Conference
Publication PlaceNEW YORK
Indexed ByEI ; CPCI(ISTP)
EI Accession number20135217123073
WOS IDWOS:000393046006112
Contribution Rank1
Keyword导管介入机器人系统 远端力反馈 力控制 阻抗控制
Other AbstractLack of distal force feedback of catheter insertion robotic system makes it difficult for doctors to perceive the force between catheter and tissue and results in complications even perforation or death. This paper assembled force sensor array which was manufacture by pressure sensitive rubber on the tip of catheter and mapped the three-dimension force to master handle, so the doctors could sense the distal force actually. Impedance control was introduced to control the distal force and to guarantee the safety of interventional procedure. Simulation result showed the impedance control method could limit the distal force of catheter to expectations effectively.
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Document Type会议论文
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GB/T 7714
李言民,刘浩,闫杰. 基于导管介入机器人系统的力反馈与力控制方法研究[C]. NEW YORK:IEEE,2013:6449-6453.
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