图像导航自主机器人辅助主动导管介入.pdfVIP

Proceedings of the 2007 IEEE/RSJ International TuC7.6 Conference on Intelligent Robots and Systems San Diego, CA, USA, Oct 29 - Nov 2, 2007 Autonomous Robot-Assisted Active Catheter Insertion using Image Guidance J. Jayender M. Azizian R. V. Patel Department of Electrical and Computer Engineering, University of Western Ontario, London, ON N6A 5B9, Canada jjagadee@uwo.ca, mazizian@uwo.ca, rajni@eng.uwo.ca Abstract— In this paper, we investigate autonomous robot- to develop technology for a more accurate, safer and more assisted insertion of an active catheter instrumented with Shape reliable approach for catheter insertion that can reduce the Memory Alloy (SMA) actuators using image guidance. An potential for injury to patients and radiation exposure or Augmented Hybrid Impedance Control (AHIC) algorithm is discomfort to clinicians. implemented on a Mitsubishi robot (PA 10-7C) to insert the active catheter. The robot is constrained to move in Cartesian In this paper, we explore the possibility of employing a space along a pre-defined trajectory while controlling the force slave robot to autonomously insert a catheter instrumented of insertion. A closed-loop control scheme has been developed with Shape Memory Alloy (SMA) actuators into the body to accurately