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题名: Inverse kinematics based point-tracking strategy of master-slave robotic catheter intervention
作者: 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: 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1668-1672
收录类别: EI
ISBN号: 9781479973965
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16115
Appears in Collections:机器人学研究室_会议论文

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