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Alternative TitleRobot-Assisted Master-slave System for Gastroscope Intervention
李言民; 郝思文; 杨臻达; 李洪谊; 杨云生; 刘浩
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20161502227407
Contribution Rank1
Funding Organization国家科技支撑计划资助项目(2012BAI14B03) ; 机器人学国家重点实验室自主课题(2013-Z10)
Keyword消化道疾病 胃镜介入 主从机器人 逆运动学分析
Other AbstractIn gastroscope operation, there exist the problems of high difficulty, heavy working intensity of endoscopists, risks of digestive fluids’ pollution and X-ray radiation. To solve those problems, a robot-assisted master-slave system for gastroscope intervention is developed. Through sufficient analyses on characteristics of clinician manual manipulation of gastroscope, the system is divided into two parts, gastroscope delivery arm and gastroscope operation arm. The delivery arm adjusts the pose of gastroscope relative to patient mouth and implements the insertion. Inverse kinematic analysis of the passive arm for gastroscope delivery is conducted to determine the joint parameters and the position of the base. The force between gastroscope and delivery device is also analyzed to determine the output torque of motor for delivery. The operation arm steers the control section to realize gastroscope rotation, control section following, distal bending, insufflation, rinsing and suction. The intervention and operation of gastroscope are controlled remotely by a joystick which realizes the intuitive projection of motion between gastroscope and joystick. After the in vitro test experiments, in vivo experiments are carried out, in which the robotic system realize each operation for gastroscope without damage to the tissue. The experimental results show that the system can implement gastroscope intervention intuitively and effectively, and the ergonomic design significantly reduces the difficulty of the operation.
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author刘浩
Recommended Citation
GB/T 7714
李言民,郝思文,杨臻达,等. 主从式胃镜介入机器人系统[J]. 机器人,2016,38(1):107-114.
APA 李言民,郝思文,杨臻达,李洪谊,杨云生,&刘浩.(2016).主从式胃镜介入机器人系统.机器人,38(1),107-114.
MLA 李言民,et al."主从式胃镜介入机器人系统".机器人 38.1(2016):107-114.
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