تقرير
A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control
| العنوان: | A Master-Follower Teleoperation System for Robotic Catheterization: Design, Characterization, and Tracking Control |
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| المؤلفون: | Nazari, Ali A., Catania, Jeremy, Sadeghian, Soroush, Jalali, Amir, Masnavi, Houman, Janabi-Sharifi, Farrokh, Zareinia, Kourosh |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition, Electrical Engineering and Systems Science - Systems and Control |
| الوصف: | Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation exposure for medical staff and extend medical services to remote and hard-to-reach areas. To enhance these services, teleoperated robotic surgery systems incorporating master and follower devices should offer transparency, enabling surgeons and clinicians to remotely experience a force interaction similar to the one the follower device experiences with patients' bodies. This paper presents the design and development of a three-degree-of-freedom master-follower teleoperated system for robotic catheterization. To resemble manual intervention by clinicians, the follower device features a grip-insert-release mechanism to eliminate catheter buckling and torsion during operation. The bidirectionally navigable ablation catheter is statically characterized for force-interactive medical interventions. The system's performance is evaluated through approaching and open-loop path tracking over typical circular, infinity-like, and spiral paths. Path tracking errors are presented as mean Euclidean error (MEE) and mean absolute error (MAE). The MEE ranges from 0.64 cm (infinity-like path) to 1.53 cm (spiral path). The MAE also ranges from 0.81 cm (infinity-like path) to 1.92 cm (spiral path). The results indicate that while the system's precision and accuracy with an open-loop controller meet the design targets, closed-loop controllers are necessary to address the catheter's hysteresis and dead zone, and system nonlinearities. Comment: 24 pages, 7 figures, 6 tables |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2407.13162 |
| رقم الأكسشن: | edsarx.2407.13162 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |