Abstract
Robotic control of flexible devices can enhance and simplify many medical procedures. We present a method for controlling the distal tip motion of a tendon driven cardiac catheter. The catheter’s shape is specified by a mechanics model which includes coupling of multiple sections. Shape is then transformed to end-effector location using a D-H kinematics model. The combined models are then inverted to translate desired tip motion to tendon displacement. The inversion optimizes positive tendon tension for n-arbitrarily located tendons. To validate the method, we present a bench-top experiment of a cardiac catheter emulating a circular ablation as a 6-DOF task. To reduce error, we present the first known experiments of sensor feedback control on the tip position of a continuum manipulator. The resulting system performs with sub-millimeter accuracy.
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References
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© 2009 Springer-Verlag Berlin Heidelberg
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Camarillo, D.B., Carlson, C.R., Salisbury, J.K. (2009). Task-Space Control of Continuum Manipulators with Coupled Tendon Drive. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_32
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DOI: https://doi.org/10.1007/978-3-642-00196-3_32
Publisher Name: Springer, Berlin, Heidelberg
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