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A study on haptic feedback of the master side for an interventional surgical robot system plays a critical important role in the master-slave vascular interventional surgery robot system with haptic feedback, and accuracy control of force feedback is an important means to improve accuracy of the vascular interventional surgery robot teleoperation. Focus on the problem of lacking haptic feedback and...
The interventional therapy is a kind of minimally invasive treatment. Under the guidance of medical imaging equipment, surgeons take the special catheter, guide wire and other precision instruments import in the body to do the pathological diagnosis and local treatment. The characters of interventional therapy are no operation, small trauma, rapid recovery, etc. However, the interventional treatment...
The interventional surgery is a type of minimally invasive operation which can reduce hospitalization time and greatly decrease patient morbidity compared to traditional methods. In our previous study, a master-slave interventional operation system has been developed. The master side was a Phantom device and the PID control was used through upper machine. To further improve the precision and synchronization...
Robotically controlled steerable guidewire navigation systems has been paid much attention to, because it can allow the surgeons to be released from radiation and heavy radiation protection garments, reduce radiation exposure, increase precision and stability of motion, and add operator comfort. The aim of the study was to improve the precision of axial motion, rotational motion and force measurement,...
The interventional surgery is a minimally invasive treatment, which uses the modern high technology. It takes the special catheter, guide wire and other precision instruments to import in the body to do the pathological diagnosis and local treatment under guide of medical imaging equipment. Interventional surgery has excellent characteristics like no operation, small trauma, rapid recovery, etc. It...
During cardiovascular and cerebrovascular interventional surgical procedure, the accuracy of guide wire advance is particularly important for the success rate and safety of surgery, a single PID controller can't adapt to the complex surgical situations, the performance of the system has much room for improvement. In this paper, a fuzzy PID control algorithm with guide wire feedback force was proposed...
The interventional surgery is a kind of minimally invasive treatment. To achieve the real-time diagnosis and strengthen the doctor operation sense of reality and the operation efficiency, the accurate control of force feedback plays an important role. Based this, we utilize the Phantom Omni as the master manipulator and construct the master-slave robot system with the force feedback closed-loop control...
The accuracy control of force feedback is an important factor to improve the real-time and accuracy of the vascular interventional master-slave robot manipulation, it plays a more and more important role in the aspect of strengthening the doctor operation sense of reality and the operation efficiency. In this paper, according to the lack of precision problem of the force feedback, we construct the...
The interventional therapy combining with modern high technologies, is a kind of minimally invasive treatment. In order to achieve pathological diagnosis and local treatment, catheter and guide wire are delivered to patients' lesions through their blood vessel with the guidance of DSA image. Interventional therapy has advantages of small trauma, rapid recovery. And it has become the developing trend...
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