Bronchoscopic interventional surgery robot which constrained by a shear-fork mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Bronchoscopic interventional surgery robot which constrained by a shear-fork mechanism
	Li J(李杰)3; Han, Chao 3; Yu T(于涛)1; He X(何啸)1; Jiang, Zhenming 2; Sun, Lei 2; Liu H(刘浩)1
	2021
会议日期	July 15-19, 2021
会议地点	Xining, China
页码	319-323
英文摘要	To ease the workload of bronchoscopy doctors, reduce the risk of both patients and doctors, and improve the accuracy and flexibility of bronchoscopy and biopsy, in this paper, a kind of bronchoscope interventional robot which constrained by shear-fork mechanism is designed, and the model simulation test is carried out. Based on the full analysis of the operation essentials and techniques of doctor's mirror feeding and biopsy sampling. The interventional robot includes hardware platforms such as operating handle, shear-fork constraint mirror feeding mechanism, upper computer, and so on, cooperating with master-slave control mode, the flexible transportation of the bronchoscope in straight line and rotation, the transportation of the biopsy forceps in a straight line and the opening and closing of the forceps were realized. The validity of the model is verified by the model experiment on the human trachea simulation model.
源文献作者	IEEE Robotics and Automation Society (RA) ; Shanghai Jiao Tong University ; Shenzhen Institute of Advanced Technology (SIAT)
产权排序	3
会议录	2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3678-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29685]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu H(刘浩)
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Science, State Key Laboratory of Robotics, Shenyang, China 2.First Hospital of China Medical University 3.School of Mechanical Engineering, Shenyang Jianzhu University, Liaoning, Shenyang, China
推荐引用方式 GB/T 7714	Li J,Han, Chao,Yu T,et al. Bronchoscopic interventional surgery robot which constrained by a shear-fork mechanism[C]. 见:. Xining, China. July 15-19, 2021.