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1、Proceedingsofthe2011IEEEInternationalConferenceonMechatronicsandAutomationAugust7-10,Beijing,ChinaDesignofaNovelMaster-SlaveRoboticSystemforMinimallyIntravascularInvasiveSurgery1,2*1,31,21,24PengZhang,ShichaoYu,YingHu,XinMa,JianweiZhang1ShenzhenInstitutesofAdvancedTechnology,ChineseAcademyof
2、Sciences2TheChineseUniversityofHongKong,HongKong,China3MechanicalEngineeringandAutomation,HITShenzhenGraduateSchool4TAMS,DepartmentofInformatics,UniversityofHamburg,Hamburg,Germany*Authorforcorrespondence,Email:peng.zhang1@siat.ac.cnorstarzhly@163.comAbstract-Anovelmaster-slaveroboticsystemh
3、asbeenperformsteppingconveying[4];thelastistoassistsurgeonsproposedforminimallyintravascularinvasivesurgery.Thewith7-DOFrobotwhichhasflexiblemovements[5].roboticsystemiscomposedofguidewireinsertionmechanism2)Catheter/Guidewirenavigationsystems:Thewithforcefeedback,catheterinsertionmechanisma
4、ndforcesystemhasbeendevelopedtoenableMISinterventionfromafeedbackdevice.Andtheworkingprincipleandcontrolsystemlocationremotetothepatient[6-11].Thecommondesignofdiagramarealsointroduced.Thissystemcanreducetheusageofthesesystemsisamaster–slavecontrolcongurationinwhichX-rays,guaranteethesafety
5、andefficiency,andhelpthemanipulatorstocompletetheintravascularinvasivesurgerythemanipulatorsitsataconsoleoutsidetheprocedureroomwithoutchangetheoperatinghabit.andusesaperipheralinputdevice(master)tomanipulatethecatheterorguidewirewithaspecializedcathetermanipulatorIndexTerms–Intravascularinv
6、asivesurgery,master-slave,(slave).Themasterdevicecanrangefromasimplejoystick,surgeryrobot,forcefeedback,cathetermechanismtouchscreen,orstylus[8,16]tomorecomplex3-Dvectorinputs[14].Fortheslavedevice,mechanicaltransmissionI.INTRODUCTIONmodules[13],aspecializedmechanicalcatheter-sheath,orEndova
7、scularminimallyinvasivesurgery(MIS)becomeslargemagnetsareusedtodrivethecatheterorguidewiremoreandmorepopular.Therearealotofadvantagessuchasthroughthevasculature.Theseremotecatheter/guidewirelowbloodloss,lowtrauma,lowpainetc.However,therearenavigati
