Document Detail


Force Control of Flexible Catheter Robots for Beating Heart Surgery.
MedLine Citation:
PMID:  21874164     Owner:  NLM     Status:  Publisher    
Abstract/OtherAbstract:
Recent developments in cardiac catheter technology promise to allow physicians to perform most cardiac interventions without stopping the heart or opening the chest. However, current cardiac devices, including newly developed catheter robots, are unable to accurately track and interact with the fast moving cardiac tissue without applying potentially damaging forces. This paper examines the challenges of implementing force control on a flexible robotic catheter. In particular, catheter friction and backlash must be compensated when controlling tissue interaction forces. Force controller designs are introduced and evaluated experimentally in a number of configurations. The controllers are based on the inner position loop force control approach where the position trajectory is adjusted to achieve a desired force on the target. Friction and backlash compensation improved force tracking up to 86% with residual RMS errors of 0.11 N while following a prerecorded cardiac tissue trajectory with accelerations of up to 3800 mm/s(2). This performance provides sufficient accuracy to enable a wide range of beating heart surgical procedures.
Authors:
Samuel B Kesner; Robert D Howe
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Publication Detail:
Type:  JOURNAL ARTICLE    
Journal Detail:
Title:  IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation     Volume:  -     ISSN:  2152-4092     ISO Abbreviation:  -     Publication Date:  2011  
Date Detail:
Created Date:  2011-8-29     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  101518638     Medline TA:  IEEE Int Conf Robot Autom     Country:  -    
Other Details:
Languages:  ENG     Pagination:  1589-1594     Citation Subset:  -    
Affiliation:
Harvard School of Engineering and Applied Sciences, Cambridge, MA, 02138 USA.
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MeSH Terms
Descriptor/Qualifier:
Grant Support
ID/Acronym/Agency:
R01 HL073647-10//NHLBI NIH HHS

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