title: Preliminary study for motion scaling based control in minimally invasive vascular interventional robot.
abstract: Robot-assisted vascular interventions present promising trend for reducing the X-ray radiation to the surgeon during the operation. However, the control methods in the current vascular interventional robots only repeat the manipulation of the surgeon. While under certain circumstances, it is necessary to scale the manipulation of the surgeon to obtain a higher precision or a shorter manipulation time. A novel control method based on motion scaling for vascular interventional robot is proposed in this paper. The main idea of the method is to change the motion speed ratios between the master and the slave side. The motion scaling based control method is implemented in the vascular interventional robot we've developed before, so the operator can deliver the interventional devices under different motion scaling factors. Experiment studies verify the effectiveness of the motion scaling based control.
authors.forename: Zhen-Qiu
authors.initials: ZQ
authors.lastname: Feng
authors.forename: Gui-Bin
authors.initials: GB
authors.lastname: Bian
authors.forename: Xiao-Liang
authors.initials: XL
authors.lastname: Xie
authors.forename: Jian-Long
authors.initials: JL
authors.lastname: Hao
authors.forename: Zhan-Jie
authors.initials: ZJ
authors.lastname: Gao
authors.forename: Zeng-Guang
authors.initials: ZG
authors.lastname: Hou
mesh_terms: D000465:Algorithms; D057510:Endovascular Procedures / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D006801:Humans; D009038:Motion; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods*