An evaluation of closed-loop control options for continuum manipulators

Penning, Ryan S.; Jung, Jin‐Woo; Ferrier, Nicola; Zinn, Michael

doi:10.1109/icra.2012.6224735

Cited by 74 publications

(41 citation statements)

References 25 publications

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“…Position control of catheters using inverse kinematic models, such as the pseudorigid body 3R model or constant curvature based Jacobian methods have been studied by a number of research groups (Kesner and Howe, 2011;Penning et al, 2012;Khoshnam and Patel, 2013). Moreover, kinematic control of a continuum manipulator using EM tracker and fuzzy control has been proposed in Qi et al (2016).…”

Section: Model-free Tension Control For Catheter Steeringmentioning

confidence: 99%

“…The pseudorigid body 3R model was developed to control the position of conventional catheter tips in Khoshnam and Patel (2013). Jacobian-based position control has been derived in Penning et al (2012). An actuated catheter system with 3D ultrasound image guidance to compensate for fast motion of cardiac tissue was proposed in Kesner and Howe (2011).…”

mentioning

confidence: 99%

“…Recent studies have been conducted without considering catheter translation, using a rigid catheter shaft or excluding external contact (Kesner and Howe, 2011;Penning et al, 2012;Khoshnam and Patel, 2013). Cardiac catheters comprise of a flexible shaft for safer insertion of the catheter into the heart's chamber through the complex vasculature.…”

mentioning

confidence: 99%

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Model-Free Position Control for Cardiac Ablation Catheter Steering Using Electromagnetic Position Tracking and Tension Feedback

et al. 2017

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Cardiac ablation therapy is an effective minimally invasive treatment for cardiac arrhythmia. Catheter steering in the constrained environment during the procedure is considered difficult, particularly in providing accurate catheter tip positioning for ablating or for diagnosing the cardiac tissue. These difficulties and inaccuracies in the catheter tip positioning are a common reason for severe complications and a prolonged duration of the procedure. To improve the maneuverability and hence the accuracy of the catheter tip navigation, a model-free catheter tip position control with a new robotic catheter system is proposed in this article. A model-free tension control algorithm for steering the catheter has been developed and implemented in the robot. As seen in the experimental validation of the system, the model-free control is able to minimize position error up to 0.5 ± 0.2 mm from 80 mm position error within 7 ± 2 s. Furthermore, it shows the capability to react efficiently to external disturbances, such as external contacts or unwanted catheter shaft movement.

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Section: Model-free Tension Control For Catheter Steeringmentioning

confidence: 99%

mentioning

confidence: 99%

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Model-Free Position Control for Cardiac Ablation Catheter Steering Using Electromagnetic Position Tracking and Tension Feedback

et al. 2017

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“…[16][17][18][19] The field of minimally invasive surgery has seen the emergence of a number of thin continuum robots. [18,[20][21][22] However, the reach of these designs is limited to a small workspace. If such thin designs could be supplemented with a significantly longer length, this distinctive thin profile could be harnessed for inspection applications in more challenging environments.…”

Section: Introductionmentioning

confidence: 99%

A novel continuum robotic cable aimed at applications in space

et al. 2015

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We introduce a new class of long and thin continuum robots intended for use in space applications. This 'cable' robot is a next-generation version of the current state of the art (NASA's 'Tendril'). The article describes the key practical limitations of the mechanical design of 'Tendril'. We introduce the design specifics of our novel concept for a next-generation device with significantly enhanced performance. Equipped with a light and compact motor-encoder actuation mechanism, the new design has improved compliance and possesses a concentric backbone arrangement which is tendon-actuated and spring-loaded. A new forward kinematic model is developed extending the established models for constant-curvature continuum robots, to account for the new design feature of controllable compression (in the hardware). The model is validated by performing experiments with a three-section prototype of the design. The new model is found to be effective as a baseline to predict the performance of such long and thin continuum 'cable' robots.

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“…Accordingly, they have limited utility in visually occluded workspaces. Electromagnetic tracking systems [29,23] avoid these occlusion problems but have smaller workspaces. Radio Frequency systems may have vast workspaces but limited accuracy [30].…”

Section: Introductionmentioning

confidence: 99%

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

Felt¹,

Telleria

Allen

et al. 2017

Robotics: Science and Systems XIII

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Abstract-In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become more distant, decreasing their mutual inductance. Measuring this change in mutual inductance allows us to measure the motion of the joint. By dividing the sensing of the joint into two sections and measuring the motion of each section independently, we are able to measure the overall deformation of the joint with a piecewise constant-curvature approximation. This technique allows us to measure lateral displacements that would be otherwise unobservable. When measuring bending, the inductance sensors measured the joint orientation with an RMS error of 1.1• . The inductance sensors were also successfully used as feedback to control the orientation of the joint. The sensors proposed and tested in this work provided accurate motion feedback that would be difficult to achieve robustly with other sensors. This sensing system enables the creation of robust, self-sensing, and soft robots based on bellows-driven continuum joints.

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An evaluation of closed-loop control options for continuum manipulators

Cited by 74 publications

References 25 publications

Model-Free Position Control for Cardiac Ablation Catheter Steering Using Electromagnetic Position Tracking and Tension Feedback

Model-Free Position Control for Cardiac Ablation Catheter Steering Using Electromagnetic Position Tracking and Tension Feedback

A novel continuum robotic cable aimed at applications in space

An Inductance-Based Sensing System for Bellows-Driven Continuum Joints in Soft Robots

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