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Content Provider | IEEE Xplore Digital Library |
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Author | Hyun Soo Woo Jang Ho Cho Chul Seung Kim Hyuk Jin Lee |
Copyright Year | 2015 |
Description | Author affiliation: Dept. of Med. Assistant Robot, KIMM, Daegu, South Korea (Hyun Soo Woo; Jang Ho Cho; Chul Seung Kim; Hyuk Jin Lee) |
Abstract | This paper proposes a new master device for teleoperated needle insertion-type interventional robotic system. The 5-DOF master device is optimally designed based on the newly defined interventional procedures and the physicians' requirements. It comprises a 2-DOF rotational mechanism for adjustment of needle orientation, a 2-DOF translational mechanism for fine-tuning of needle entry point, and a handle assembly. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The passive actuation modules of the rotational mechanism and the active actuation modules of the translational mechanism are controlled appropriately for the selected mode according to the procedure phase. The needle insertion mechanism also warns the user by vibrating the shaft when the needle reaches the dangerous region. |
Starting Page | 4849 |
Ending Page | 4852 |
File Size | 6047030 |
Page Count | 4 |
File Format | |
ISSN | 1557170X |
e-ISBN | 9781424492718 |
DOI | 10.1109/EMBC.2015.7319479 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2015-08-25 |
Publisher Place | Italy |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Needles Robots Medical services Biomedical imaging Computed tomography Magnetic resonance imaging Haptic interfaces |
Content Type | Text |
Resource Type | Article |
Subject | Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition |
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