Tracking natural guidewire manipulations with an improved data glove | |
Zhou Xiao-Hu![]() ![]() ![]() ![]() ![]() | |
2016 | |
会议日期 | 2016年 |
会议地点 | 中国青岛 |
英文摘要 | Natural guidewire manipulations of surgeons in percutaneous coronary intervention (PCI), rotating and translating a guidewire with finger and hand motion, are important and useful references to build a knowledge base (KB) for robotic autonomous intervention. In this paper, guidewire manipulation models are proposed using an improved data glove, in which a 6-DOF position/orientation sensor is installed. The tracking functions between the surgeon’s manipulations and guidewire motions are established according to the models. The performance of proposed method is analyzed with tracking errors and the statistical significance of tracking trajectories is evaluated with the Kruskal-Wallis test. The results show that radial rotation tracking error is 20.24 ± 8.38 (degree) and axial advancement tracking error is 0.99 ± 0.81 (mm) at a medium delivery speed.
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语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/23508] ![]() |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
作者单位 | Institute of Automation Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Zhou Xiao-Hu,Bian Gui-Bin,Xie Xiao-Liang,et al. Tracking natural guidewire manipulations with an improved data glove[C]. 见:. 中国青岛. 2016年. |
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