Admittance control for robot assisted retinal vein micro-cannulation under human-robot collaborative mode
作者： He Zhang , Berk Gonenc , Iulian Iordachita
DOI: 10.23919/ICCAS.2017.8204346
关键词: Admittance 、 Instrumentation (computer programming) 、 Simulation 、 Cannula 、 Robot 、 Mode (computer interface) 、 Occlusion 、 Human–robot interaction 、 Retinal Vein 、 Computer science
摘要: Retinal vein occlusion is one of the most common retinovascular diseases. cannulation a potentially effective treatment method for this condition that currently lies, however, at limits human capabilities. In work, aim to use robotic systems and advanced instrumentation alleviate these challenges, assist procedure via humanrobot collaborative mode based on our earlier work Steady-Hand Eye Robot force-sensing instruments. An admittance control employed stabilize cannula relative maintain it inside lumen during injection process. A pre-stress strategy used prevent tip microneedle from getting out in prolonged infusions, performance verified through simulations.
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