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基于导管介入机器人系统的力反馈与力控制方法研究
Alternative TitleResearch of Force Feedback and Control Based on Catheter Insertion Robotic System
李言民; 刘浩; 闫杰
Department机器人学研究室
Conference Name2013 32nd Chinese Control Conference
Conference DateJuly 26-28, 2013
Conference PlaceXi'an, China
Source PublicationProceedings of the 32nd Chinese Control Conference
PublisherIEEE
Publication PlaceNEW YORK
2013
Pages6449-6453
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
Abstract对导管介入机器人系统缺乏远端力反馈功能,医生无法准确获取导管末端与组织接触力信息,容易引起各种并发症甚至穿孔以致死亡的问题,将压敏橡胶制作成力传感器阵列装配在导管末端,将所得的三维力信息映射到主端手柄,使医生真实的感受导管末端的受力情况;引入阻抗控制方法对导管末端所受力进行控制以保证介入过程的安全性。仿真结果表明,阻抗控制方法的引入可有效地将导管末端受力限定在预期范围内
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.
Language中文
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13891
Collection机器人学研究室
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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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