Design of a Catheter Operating System with Active Supporting Arm for Vascular Interventional Surgery
VIS(Vascular Interventional Surgery), an effective method for cardiovascular and cerebrovascular diseases, is performed under fluoroscopic X-ray guidance, to solve the troubles existing in VIS, catheter operating systems have been developed, however, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to position and adjust catheter operating system. Therefore, a new 2-DOF tele-operating catheter system with 5-DOF active supporting arm for medical applications was developed in this paper on the basis of process analysis of VIS, furthermore, a safety control system designed in order to insure the safety of the whole system. Experimental results showed that the supporting arm run smoothly and positioned the catheter manipulator accurately.
Vascular interventional surgery Tele-operating Catheter system Supporting arm Safety control system
Honghua Zhao Xingguang Duan
School of Mechanical Engineering University of Jinan Jinan, Shandong Province, China Intelligent Robotics Institute Beijing Institute of Technology Beijing, China
国际会议
杭州
英文
169-172
2011-08-26（万方平台首次上网日期，不代表论文的发表时间）