TY - GEN
T1 - Development of master-slave system with force-rate control for interventional radiology
AU - Ide, Masaru
AU - Zobel, Pierluigi Beomonte
AU - Di Claudio, Paolo
AU - Komeda, Takashi
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
KW - Force feedback
KW - Force-rate control
KW - Interventional radiology
KW - Master-slave system
KW - Mechanical failsafe
UR - http://www.scopus.com/inward/record.url?scp=77949349051&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77949349051&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-03906-5-78
DO - 10.1007/978-3-642-03906-5-78
M3 - Conference contribution
AN - SCOPUS:77949349051
SN - 9783642039058
T3 - IFMBE Proceedings
SP - 285
EP - 288
BT - World Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy
T2 - World Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy
Y2 - 7 September 2009 through 12 September 2009
ER -