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A Novel Vascular Intervention Surgical Robot Based on Force Feedback and Flexible Clamping

At present, most vascular intervention surgical robots (VISRs) cannot achieve effective force feedback and lack regulation of the clamping force of the guidewire. In this paper, a VISR based on force feedback and clamping force regulation is proposed. It is a master–slave system consisting of a mast...

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Principais autores: Haoyang Yu, Hongbo Wang, Jingyuan Chang, Jianye Niu, Fuhao Wang, Yonggan Yan, Hesuo Tian, Junyu Fang, Haixia Lu
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2021-01-01
Serier:Applied Sciences
Fag:
vascular interventional surgical robot
force feedback
flexible clamping
fuzzy PID controller
Online adgang:https://www.mdpi.com/2076-3417/11/2/611
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