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Vascular Interventional Surgery (VIS) has been widely applied because of its advantages of small trauma and fast recovery in interventional surgery. In the previous work, we designed a master-slave robotic catheter system for VIS. In order to solve the problem that the operating device can not accurately deliver the catheter to the target position, the kinematic analysis of the catheter was carried...
According to the world health organization survey, the number of patients died of disease of heart head blood-vessel per year up to 15 million, a serious threat to human health. Vascular Interventional Surgery (VIS) has been an effective method for treatment of vascular diseases. However, the surgeons are exposed to X-ray threatening the surgeons' health due to the depositing which lasts long. It...
This paper proposed a multidimensional information monitoring method for a novel master-slave robotic vascular interventional system. We have designed a contact force sensor based on pressure sensitive rubber to transmit the force information to surgeon to improve the security during VIS (vascular interventional surgery). Furthermore, the motion information of catheter is also monitored in the information...
This paper proposed a novel grasper for a novel master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed novel grasper can imitate the catheter grasping motion of the surgeon during VIS. The grasper is a key factor to drive the catheter into the vessel accurately. It adopts a common structure like the pliers, which can guarantee that the catheter can...
Manual operation of steerable catheter is inaccurate in minimally invasive surgery, requires dexterous and efficient manipulation for the catheter and exposes the surgeons to intense radiation. A novel robotic catheter manipulating system has been developed to reduce the performance error and irradiation to surgeons. In addition, unlike the conventional technique which requires surgeons to manipulate...
Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed...
In this paper, a novel robotic catheter system was proposed, which can be used to assist surgeon to do the operation of vascular interventional surgery (VIS), the robotic catheter system can measure the contact force and friction between catheter and blood vessel, we used load cell to measure the friction between catheter and blood vessel, the friction can be transmitted to the operator's hand as...
Catheter-based interventions are a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. The accuracy of catheter manipulation is limited by the doctor for operating over the length of the catheter. Traditional catheters with master-slave operating system can potentially provide the desired manipulation of...
In this paper, a new master-slave robotic catheter system for minimally invasive surgery (MIS) has been proposed, it can be used for training unskilled surgeons to do the operation of intravascular neurosurgery. Comparing with the previous catheter operating systems, the new master-slave robotic catheter operating system has good maneuverability. The new master-slave robotic catheter operating system...
In this paper the author proposed a new kind of catheter operating system. The system is with the structure of master and slave. For master side a controller with force feedback is designed. And For slave side a catheter operating robot is designed. Also force sensors are installed on the catheter to get the force information of the front-end of the catheter. With the system the intracavity intervention...
We have developed a novel catheter operating system with danger avoiding method in this paper, which included a highly precise master-slave remote control system. We used micro force sensors to realize haptic feedback, and used web camera and developed algorithm to realize visual feedback, with the help of visual and haptic feedback, surgeons can avoid danger effectively in the process of minimally...
In this paper, we developed a novel catheter operating system using force sensors and monitor for medical applications, which included a highly precise master-slave remote control system. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications, using camera to monitor the situation of simulation experiment. We carried...
We have developed a force display method for a catheter operating system in this paper. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications. We also used camera to monitor the situation of simulation experiment, and used developed force display system to monitor the changed force that catheter contacted with blood...
In this paper, we developed a novel catheter operating system using force sensors for medical application, which included a highly precise master-slave remote control system. We designed micro force sensors and used them in the system to ensure the operation security in intravascular neurosurgery applications. We carried out the operation simulation experiments and got the force information by force...
In this paper, we developed a force sensors-based catheter operating system. Firstly, we developed a highly precise remote control system by using a master-slave system. And in order to insure the safety of the whole system, we designed a micro force sensor as the base part in our research. Then we expatiate on the design concept of the system and control of the system. Also we carried out the operating...
This paper deals with a new catheter operating system for medical applications. We developed a highly precise remote control system by using a master-slave system. In order to insure the safety of the whole system, we design a simply micro force sensor. Also we expatiate on the design concept of the system and control of the system. We also carried out the operating simulation experiments "in...
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