Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions

Salimi, Amirhossein; Ramezanifar, Amin; Mohammadpour, Javad; Grigoriadis, Karolos; Tsekos, Nikolaos V.

doi:10.1115/1.4026334

Cited by 7 publications

(3 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The robot was integrated to an MRI coil, and is thus compact, portable, and easy for surgical workflow development. In 2014, Salimi et al 74 University of Houston, developed a 4-DOF patient-mounted and cable-driven manipulator to assist beating heart intracardiac interventions.…”

Section: Mri-guided Cardiothoracic Surgery Robotsmentioning

confidence: 99%

Sensors, Actuators, and Robots for Mri-Guided Surgery and Interventions

Fischer

2018

The Encyclopedia of Medical Robotics

View full text Add to dashboard Cite

With the recent more widespread clinical use of interventional magnetic resonance imaging (MRI), MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately and effectively. Deploying robotic systems inside MRI synergizes the imaging capability of MRI and the manipulation capability of robotic assistance, formulating the "closed-loop surgery" architecture that utilizes intra-operative imaging to adjust and control the interventional plan. However, MRI imposes unique challenges due to electromagnetic interference, material incompatibility, and confined space inside the MRI bore. This chapter introduces the advantages of MRI-guided surgery and challenges associated with being compatible with the MRI environment. It provides an overview of the state-ofthe-art in MRI-compatible sensors, actuators, and robotic systems with future perspectives by discussing the limitations, open questions, and challenges of the current research landscape.

show abstract

Section: Mri-guided Cardiothoracic Surgery Robotsmentioning

confidence: 99%

Sensors, Actuators, and Robots for Mri-Guided Surgery and Interventions

Fischer

2018

The Encyclopedia of Medical Robotics

View full text Add to dashboard Cite

show abstract

“…1. This choice has also been adopted for instance by Salimi et al [16] to design a remotely actuated cable-driven robotic assistance for cardiac surgery under MRI. In this situation, the cables are not directly tensioned between the actuators and the platform.…”

Section: Problem and Contributionsmentioning

confidence: 99%

Control of cable-driven manipulators in the presence of friction

Abdelaziz

Barbé

Renaud

et al. 2017

Mechanism and Machine Theory

View full text Add to dashboard Cite

Cable-driven systems are of great interest in applications for which remote actuation is required, like for instance to operate within medical imaging devices. In such applications, robotic architectures based on remotely actuated cable-driven manipulators (CDM) offer innovative design options. However, unlike more conventional CDM, such designs involve specific control problems. This paper deals with the control of CDM in the presence of friction, as experienced when particular design constraints have to be taken into account (size, materials, length of transmissions). In this case, the influence of friction on the manipulator motions is such that dynamic modeling, identification and control, are no longer adapted, nor even possible. As a result, for quasi-static positioning tasks, we propose a CDM position control strategy resulting from a cascade structure, with an internal cable tension control loop to handle friction. Cable tension is measured using an original instrumented compliant structure. From the control point of view, the originality of the present paper comes in particular from the development of a feasibility algorithm which allows us to limit cables tensions within a specified range. This strategy is experimentally assessed on a robot for image-guided medical procedures.

show abstract

“…of the platform using simple ON-OFF and discrete variablegain PID control schemes [14]. Neither one of these control design approaches used a dynamic model of the platform, and the gain tuning of the controllers was ad-hoc.…”

Section: Introductionmentioning

confidence: 99%

Gain-scheduling control of a cable-driven MRI-compatible robotic platform for intracardiac interventions

Salimi

Ramezanifar

Mohammadpour

et al. 2013

2013 American Control Conference

Self Cite

View full text Add to dashboard Cite

In this paper, we design and implement a gainscheduling controller for a parallel structure robotic platform (that we name ROBOCATH) developed to be used in intracardiac interventions under beating-heart conditions. The primary mission for this manipulator is to safely steer the cardiac catheters inside the left ventricle to reach any desired target points under magnetic resonance imaging (MRI) guidance. In this paper, we first derive a reduced-order dynamic model of the robot based on the Lagrange method to capture the nonlinear dynamics of the platform. The model is then used for the design of a state feedback linear parameter varying (LPV) controller to command the robot to position the catheter in any desired state. During the controller design process, appropriate selection of scheduling parameters not only helps hide the nonlinearities of the system dynamics but also leads to a set of decoupled models for the structure, where each degree of freedom could be treated separately. The performance of the controller is compared with a variable-gain proportional-derivative-integral (PID) controller designed in our earlier work. The experimental results show that the proposed control scheme has significant advantages in terms of implementation, set point tracking and actuator saturation over the baseline PID controller.

show abstract

Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions

Cited by 7 publications

References 19 publications

Sensors, Actuators, and Robots for Mri-Guided Surgery and Interventions

Sensors, Actuators, and Robots for Mri-Guided Surgery and Interventions

Control of cable-driven manipulators in the presence of friction

Gain-scheduling control of a cable-driven MRI-compatible robotic platform for intracardiac interventions

Contact Info

Product

Resources

About