[1]龚泽宁,付 庄,付泽宇,等.血管介入操作力觉标定模块设计[J].机械与电子,2022,(06):3-7.
　GONG Zening,FU Zhuang,FU Zeyu,et al.Design of Force Calibration Module for Vascular Interventional Operation[J].Machinery & Electronics,2022,(06):3-7.
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血管介入操作力觉标定模块设计()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年06期
页码:
3-7
栏目:
设计与研究
出版日期:
2022-06-24

文章信息/Info

Title:
Design of Force Calibration Module for Vascular Interventional Operation
文章编号:
1001-2257(2022)06-0003-05
作者:
龚泽宁 1 ; 付 庄 1 ; 付泽宇 1 ; 谢荣理 2 ; 张 俊 2 ; 费 健 2
1. 上海交通大学机械系统与振动国家重点实验室,上海 200240;
2. 上海交通大学医学院附属瑞金医院,上海 200025
Author(s):
GONG Zening 1 ; FU Zhuang 1 ; FU Zeyu 1 ; XIE Rongli 2 ; ZHANG Jun 2 ; FEI Jian 2
(1. State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China;
2. Ruijin Hospital Affiliated to Shanghai Jiao Tong University,Shanghai 200025,China)
关键词:
血管介入; 力觉标定; 卡尔曼滤波; 信号处理
Keywords:
vascular intervention; force calibration; Kalman filter; signal processing
分类号:
TP242. 3
文献标志码:
A
摘要:
设计了一种应用于血管介入操作的力觉标定模块,该模块能够检测导丝导管所受到的轴向阻力和周向扭矩。 首先,通过机械结构将轴向阻力和周向扭矩作用于模块中的压力传感器;其次,通过检测电路对压力传感器产生的力觉信号进行采集,并使用卡尔曼滤波等法进行信号处理;最后,通过设计搭建的实验平台进行标定实验。 结果表明,该力觉标定模块能够很好地检测力觉信息。
Abstract:
A force calibration module for vascular interventional operations is designed,which can detect the axial resistance and circumferential torque of the guidewire and catheter. First,the axial resistance and circumferential torque are applied to the pressure sensor in the module through the mechanical structure. Secondly,the force signal generated by the pressure sensor is collected through the detection circuit. And the signal processing is performed using methods such as the Kalman filter. Finally,the calibration experiment is carried out through the experimental platform designed and built. The results show that the force calibration module can detect force information well.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2021-12-23
基金项目:国家自然科学基金面上项目(61973210);医工交叉项目(YG2019ZDA17, ZH2018QNB23)
作者简介:龚泽宁 (1997-),男,浙江宁波人,硕士研究生,研究方向为机器人控制系统、医疗机器人等;付 庄(1972-),男,山东招远人,教授,研究方向为特种机器人与控制系统,通信作者。
更新日期/Last Update: 2022-06-22