지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
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Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.
목차
Abstract
1. 서론
2. 시스템 구성 및 성능 시험
3. 성능 평가
4. 결론
감사의 글
참고문헌
저자소개
참고문헌 (18)
참고문헌 신청
W. B. Kannel / 1982 / Epidemiologic Features of Chronic Atrial Fibrillation: The Framingham Study / N Engl J Med 306(17):1018~1022
P. Dario / 1996 / Robotics for Medical Applications / IEEE Robot. Autom. Mag 3(3):44~56
S. Y. Ko / 2001 / The Force Feedback Method for Master/Slave-Combined System / Int. Conf. on Control, Automation and Systems
E Marcelli / 2008 / A Novel Telerobotic System to Remotely Navigate Standard Electrophysiology Catheters / Comput. Cardiol 35(1):137~140
N. Simaan / 2009 / Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Thoat / Int. J. Robot. Res 28(9):1134~1153
P. Dario / 1996 / Robotics for Medical Applications / IEEE Robot. Autom. Mag 3(3):44~56
S. Y. Ko / 2001 / The Force Feedback Method for Master/Slave-Combined System / Int. Conf. on Control, Automation and Systems
E Marcelli / 2008 / A Novel Telerobotic System to Remotely Navigate Standard Electrophysiology Catheters / Comput. Cardiol 35(1):137~140
N. Simaan / 2009 / Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Thoat / Int. J. Robot. Res 28(9):1134~1153
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UCI(KEPA) : I410-ECN-0101-2013-560-000549380