发布求助
文献互助 智能选刊 最新文献

ICCAS ... : International Conference on Control, Automation, and Systems. International Conference on Control, Automation, and Systems最新文献

筛选
英文 中文
Admittance Control for Robot Assisted Retinal Vein Micro-Cannulation under Human-Robot Collaborative Mode. 人机协作模式下机器人辅助视网膜静脉微插管导纳控制。
ICCAS ... : International Conference on Control, Automation, and Systems. International Conference on Control, Automation, and Systems Pub Date : 2017-10-01 Epub Date: 2017-12-14 DOI: 10.23919/ICCAS.2017.8204346
He Zhang, Berk Gonenc, Iulian Iordachita
{"title":"Admittance Control for Robot Assisted Retinal Vein Micro-Cannulation under Human-Robot Collaborative Mode.","authors":"He Zhang,&nbsp;Berk Gonenc,&nbsp;Iulian Iordachita","doi":"10.23919/ICCAS.2017.8204346","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204346","url":null,"abstract":"<p><p>Retinal vein occlusion is one of the most common retinovascular diseases. Retinal vein cannulation is a potentially effective treatment method for this condition that currently lies, however, at the limits of human capabilities. In this work, the aim is to use robotic systems and advanced instrumentation to alleviate these challenges, and assist the procedure via a human-robot collaborative mode based on our earlier work on the Steady-Hand Eye Robot and force-sensing instruments. An admittance control method is employed to stabilize the cannula relative to the vein and maintain it inside the lumen during the injection process. A pre-stress strategy is used to prevent the tip of microneedle from getting out of vein in in prolonged infusions, and the performance is verified through simulations.</p>","PeriodicalId":92208,"journal":{"name":"ICCAS ... : International Conference on Control, Automation, and Systems. International Conference on Control, Automation, and Systems","volume":"2017 ","pages":"862-866"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.23919/ICCAS.2017.8204346","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35967675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
首页 上一页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信