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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルWorld Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy
ページ285-288
ページ数4
6
DOI
出版ステータスPublished - 2009 12月 1
イベントWorld Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy - Munich, Germany
継続期間: 2009 9月 72009 9月 12

出版物シリーズ

名前IFMBE Proceedings
番号6
25
ISSN(印刷版)1680-0737

Conference

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

ASJC Scopus subject areas

  • バイオエンジニアリング
  • 生体医工学

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