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Surgeons’ Operation Skill-Based Control Strategy and Preliminary Evaluation for a Vascular Interventional Surgical Robot

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收录情况： ◇ SCIE ◇ EI

作者：

机构： [1]Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China [2]Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, 761-0396, Japan [3]Department of Interventional Neuroradiology, Beijing Engineering Technology Research Center for Interventional Neuroradiology, and Beijing Neurosurgical Institute, Beijing Tiantan Hospital, Capital Medical University, Beijing, 10050, China

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DOI：

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关键词： Catheterization Control strategy Fuzzy controlling theory Master–Slave surgical robot Surgeons’ operation skill

摘要：

Background: Remote vascular intervention surgery that employs surgical robot is an important research field. It is difficult to ensure that the surgical robot realize the surgeons’ operation skills precisely. Objective: To solve this problem, surgical robot must be able to duplicate the surgeons’ changeable operation, and guarantee accuracy of synchronous motion between the surgeon’s unpredictable operation and robotic control of surgical tool. Method: In this research, the surgeons’ operations were disassembled, eight basic actions were obtained. The surgical robot which can reproduce these basic actions is designed. Further, fuzzy control theory was applied to optimize the remote control and to guarantee the control precision of the synchronous operations. Result: Using an experiment, the surgical procedures and operations of interventional surgical robot were obtained and evaluated. The robot can duplicate the surgeons’ operative skills when the control precision of the guidewire is guaranteed. And the axial displacement error of the surgical robot is limited to less than 2 mm. Conclusion: The new type of interventional surgical robot was designed and proved that the surgical robot can duplicate the operation skills of the surgeon. The control error of novel surgical robot reaches the accuracy required by the surgeon. © 2018, Taiwanese Society of Biomedical Engineering.

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出版当年[2018]版：

大类 | 4 区工程技术

小类 | 4 区工程：生物医学

最新[2023]版：

大类 | 4 区医学

小类 | 4 区工程：生物医学

JCR分区：

出版当年[2017]版：

Q4 ENGINEERING, BIOMEDICAL

最新[2023]版：

Q4 ENGINEERING, BIOMEDICAL

影响因子： 1.6 最新[2023版] 1.8 最新五年平均 1.211 出版当年[2017版] 1.044 出版当年五年平均 0.989 出版前一年[2016版] 1.306 出版后一年[2018版]

第一作者：

第一作者机构： [1]Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China

通讯作者：

通讯机构： [1]Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, 100081, China [2]Intelligent Mechanical Systems Engineering Department, Kagawa University, Takamatsu, 761-0396, Japan

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