Internet-based robotic catheter surgery system—System design and performance evaluation

2012 IEEE International Conference on Automation and Logistics Pub Date : 2012-09-20 DOI:10.1109/ICAL.2012.6308155

Nan Xiao, Shuxiang Guo, Baofeng Gao, Xu Ma, T. Tamiya, M. Kawanishi

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引用次数: 10

Abstract

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 system consists of two parts, one is the surgeon console and the other one is the catheter manipulator. The surgeon's console is designed to simulate the surgeon's operating procedure, and the catheter manipulator takes the same movement motion with the controller. In the paper, the mechanism of the system is introduced in detail. Controllers are designed for both two parts. A internet based communication between the controller and the catheter manipulator has been build. A server client structure is employed to realize the communication. Two-way remote control experiments are carried out between China and Japan. The dynamic performance of the system is discussed in the paper.

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基于互联网的机器人导管手术系统——系统设计与性能评价

血管内介入有望在医疗实践中越来越流行，无论是诊断还是手术。因此，血管内手术辅助机器人系统的研究得到了广泛的开展。机器人系统具有精度高、可远程控制等优点。本文介绍了一种新型机器人导管操作系统。所开发的系统由两部分组成，一是手术控制台，二是导管操纵器。外科医生的控制台设计为模拟外科医生的手术过程，导管机械手与控制器采取相同的运动运动。文中详细介绍了该系统的工作原理。控制器是为这两个部分设计的。建立了一种基于internet的控制器与导管机械手之间的通信系统。采用服务器-客户端结构实现通信。中日两国进行了双向遥控实验。文中还讨论了系统的动态性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2012 IEEE International Conference on Automation and Logistics

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