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.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 299 - 303 (5page)
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초록· 키워드
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This paper presents a tele-operated robotic platform for cardiac catheterization that is one of minimally invasive intervention procedures mostly used in cardiac ablation and stent implantation. The robotic cardiac catheter navigation systems have been developed to facilitate more accurate and precise catheter navigation. The system proposed in this study was designed to be compatible with conventional cardiac ablation catheters. The master manipulator implements force feedback using force/torque signal either measured by a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator with three DOF implements a robotic catheter control platform in which conventional cardiac catheter is installed and the motions such as forward/backward movement, rolling, and catheter tip bending are controlled. The system runs on a realtime-based software that implements synchronized control of the master-slave motion. The synchronization performance was evaluated for step, sinusoidal, and arbitrarily varying motion commands and the result showed the proposed system successfully achieved the tele-operated motion control function.
목차
Abstract
1. INTRODUCTION
2. SYSTEM DESCRIPTION
3. EXPERIMENT AND RESULT
4. CONCLUSION
REFERENCES
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