Development of master-slave system with force-rate control for interventional radiology

Masaru Ide, Pierluigi Beomonte Zobel, Paolo Di Claudio, Takashi Komeda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The objective of this study is to develop a master-slave system for a catheter-guided operation, which is performed by using radiology, through the vascular system. When the master-slave system is used, the surgeon is not exposed to x-rays during the operation. The master tool is managed by an operator away from the slave tool, which is near the patient. The system must provide a realistic picture to the surgeon, particularly in term of force information because this operation is performed by observing three-dimensional fields on a two-dimensional monitor. In this paper, we describe the development of a master slave system that involves the use of forcerate control for guiding the catheter without using force sensors. The master tool has a force-display function. This system can be controlled by force and velocity controlling; hence, this system realized an innovative mechanism and algorism. Finally, the preliminary experiment indicated that the new control method was effective. Further, the force display was stable and achieved fast response.

Original languageEnglish
Title of host publicationWorld Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy
Pages285-288
Number of pages4
Edition6
DOIs
Publication statusPublished - 2009 Dec 1
EventWorld Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy - Munich, Germany
Duration: 2009 Sep 72009 Sep 12

Publication series

NameIFMBE Proceedings
Number6
Volume25
ISSN (Print)1680-0737

Conference

ConferenceWorld Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy
CountryGermany
CityMunich
Period09/9/709/9/12

Keywords

  • Force feedback
  • Force-rate control
  • Interventional radiology
  • Master-slave system
  • Mechanical failsafe

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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    Ide, M., Zobel, P. B., Di Claudio, P., & Komeda, T. (2009). Development of master-slave system with force-rate control for interventional radiology. In World Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy (6 ed., pp. 285-288). (IFMBE Proceedings; Vol. 25, No. 6). https://doi.org/10.1007/978-3-642-03906-5-78