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Inverse kinematics based point-tracking strategy of master-slave robotic catheter intervention
Gao AZ(高安柱); Liu H(刘浩); Zhou YY(周圆圆); Li HY(李洪谊)
作者部门机器人学研究室
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
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
会议录名称2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码1668-1672
收录类别EI ; CPCI(ISTP)
EI收录号20152100877058
WOS记录号WOS:000380399500277
产权排序1
ISBN号978-1-4799-7396-5
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16115
专题机器人学研究室
通讯作者Gao AZ(高安柱)
作者单位1.Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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]//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. Piscataway, NJ, USA:IEEE,2014:1668-1672.
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