东北大学学报（自然科学版）

东北大学学报:自然科学版 ›› 2014, Vol. 35 ›› Issue (4): 569-573.DOI: 10.12068/j.issn.1005-3026.2014.04.026

• 机械工程 • 上一篇    下一篇

主从式遥操作血管介入机器人

曹彤1，王栋1，刘达2，曾玉祥1   

  1. (1 北京科技大学 机械工程学院， 北京100083； 2 北京航空航天大学 机器人所， 北京100191)
  • 收稿日期:2013-11-10 修回日期:2013-11-10 出版日期:2014-04-15 发布日期:2013-11-22
  • 通讯作者: 曹彤
  • 作者简介:曹彤(1962-)，女，北京人，北京科技大学副教授；刘达(1972-)，男，北京人，北京航空航天大学教授.
  • 基金资助:
    国家高技术研究发展计划项目(2009AA044002).

MasterSlave Remote Controlled Vascular Interventional Robot

CAO Tong1， WANG Dong1， LIU Da2， ZENG Yuxiang2   

  1. 1. School of Mechanical Engineering， University of Science and Technology Beijing， Beijing 100083， China; 2. Robotics Institute， Beihang University， Beijing 100191， China.
  • Received:2013-11-10 Revised:2013-11-10 Online:2014-04-15 Published:2013-11-22
  • Contact: CAO Tong
  • About author:-
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摘要： 传统的血管介入手术需要医生徒手操控导管，存在医生受辐射和人为因素影响手术质量等弊端.针对该问题，设计了用于辅助医生手术的主从式遥操作血管介入机器人.根据临床手术的要求，基于模块化理念，分别对机器人的从端推进机构、主端操控装置进行了结构设计，为主从模式的实现做了相关的软、硬件开发；对机器人样机进行了必要的性能测试，证实了该机器人具有小于1mm的运动控制精度和044ms的主从运动实时性.结果表明:该机器人系统解决了传统手术中的问题，在功能和性能上完全满足血管介入手术的要求，具有较高的临床使用价值.

关键词: 血管介入, 机器人, 临床手术, 控制精度, 实时运动

Abstract: Catheter should be controlled by doctor’s hands during the traditional vascular interventional surgery which had some disadvantages， as the doctor absorbed radiation and operation quality was affected by human factors. To solve the problem， masterslave remote controlled vascular interventional robot assisting doctor was designed. According to the requirements of clinical surgery， the subordinate feed mechanism and master operational device were designed respectively on the basis of the modular concept， the hardware and software were developed to achieve the masterslave mode.The necessary performances were tested， the motion control accuracy of less than 1mm and the masterslave realtime motion of 044ms were confirmed. The results showed that the robot system can solve the problems of traditional surgery， and meet the requirements of vascular interventional surgery on function and performance， which has high value for clinical application.

Key words: vascular intervention, robot, clinical surgery, control accuracy, realtime motion

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