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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)
Department机器人学研究室
Conference Name2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Conference DateDecember 5-10, 2014
Conference PlaceBali, Indonesia
Author of SourceHarbin 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
Source Publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages1668-1672
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152100877058
WOS IDWOS:000380399500277
Contribution Rank1
ISBN978-1-4799-7396-5
AbstractThis 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16115
Collection机器人学研究室
Corresponding AuthorGao AZ(高安柱)
Affiliation1.Shenyang Institute of Automation, University of Chinese Academy of Sciences, Shenyang, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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