操纵器(设备)
机器人
手术机器人
导管
机械手
计算机科学
控制工程
翻译(生物学)
模拟
工程类
外科
人工智能
医学
生物化学
化学
信使核糖核酸
基因
作者
Chaochao Shi,Hidenori Ishihara
标识
DOI:10.1109/icma57826.2023.10215883
摘要
Vascular interventional surgery robots can effectively improve the doctor’s operating environment and interventional accuracy. However, the current vascular interventional surgery robots cannot quickly exchange the catheters/guidewires and lack the design of the force detection structure, which causes trouble for the actual robot to go to the clinic; This paper presents that a developed slave manipulator can effectively solve the above problems. For the force detection, this paper analyzes the influence of the materials of the catheters and guidewire on the axial force; for the proposed slave manipulator, the unique functions of the slave manipulator are introduced; the theory of using flexible materials to clamp and rotate a catheter is developed; the dynamic modelings of translation and rotation of the proposed developed slave manipulator are established separately. These will have laid a foundation for developing this kind of vascular interventional robot.
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