Master-slave interactive control and implementation for minimally invasive vascular interventional robots

被引：0

作者：

Feng Z.-Q. ^{[1
]}

Hou Z.-G. ^{[1
]}

Bian G.-B. ^{[1
]}

Xie X.-L. ^{[1
]}

Zhou X.-H. ^{[1
]}

机构：

[1] The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing

来源：

Zidonghua Xuebao/Acta Automatica Sinica | 2016年 / 42卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Master-slave control; Medical robot; Motion scaling; Vascular interventional surgery;

D O I：

10.16383/j.aas.2016.c150577

中图分类号：

学科分类号：

摘要：

Minimally invasive vascular intervention is an important treatment for the coronary heart disease. High-precision catheter and guidewire delivery are required in the operation. Benefited from the high accuracy and remote operation of the robot technology, the development of vascular interventional robot has attracted increasing attention. During the intervention, according to the distal end position of the guidewire/catheter, the procedure of device delivery could be divided into three stages. 1) Aorta stage: the distal end of the guidewire/catheter is in the aorta. High delivery speed is required in this stage to minimize the dosage of the X-ray and the contrast medium. 2) Coronary artery ostium stage: the distal end of the guidewire/catheter approaches the ostium of the coronary artery, and the guidewire is rotated to enter the specific artery. 3) Stenotic coronary artery stage: the distal end of the guidewire is at the stenosis, high accuracy manipulation is required. Motion scaling based master-slave control is presented for different stages of the device delivery. By changing the motion scaling factor between the master side and the slave side of the vascular interventional robot, the manipulation of the master side is magnified, minified or equally repeated at the slave side. Experiments of the minimally invasive vascular interventional robot has validated the feasibility and effectiveness of the scaling. The manipulation time is reduced by 39.9% when the scaling factor is 4, and the accuracies of translation and rotation are improved by 72.9% and 77.1%, respectively under scaling factor 1/4. Copyright © 2016 Acta Automatica Sinica. All rights reserved.

引用

页码：696 / 705

页数：9

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