Impedance control as an optimal control problem: a novel formulation of impedance controllers as a subcase of optimal control

Furtado, Guilherme Phillips; Americano, Pedro Parik; Forner-Cordero, Arturo

doi:10.1007/s40430-020-02586-x

Cited by 4 publications

(1 citation statement)

References 46 publications

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“…Since procedure-specific considerations have a decisive impact on the required actuation, a framework should be developed for a more detailed kinematic analysis of the robot arms and their limitations (e.g. singularities) during a particular procedure [323]. This would result in improved safety during an intervention.…”

Section: Improved (Electro)magnetsmentioning

confidence: 99%

Advanced robotics for magnetic manipulation : the mobile magnetic vascular surgeon

Heunis¹

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The critical factor of imaging the catheter within an ultrasound-specific patient-oriented approach is then addressed in Chapter 7. Finally, in Chapter 8, a catheterization to treat a simulated Peripheral Artery Disease (PAD) is demonstrated. Here, the performance and clinical feasibility of a novel magnetically-actuated catheter are tested inside the ARMM system.Finally, in Part IV, the range of surgical applications for the ARMM system is discussed, overall conclusions are drawn, and directions for future work are provided. The ARMM system's key strengths are its large operable workspace, consistent visual tracking, and collaborative control of robots capable of reaching any patient extremity. The proposed electromagnetic coil can magnetically steer a range of endovascular catheters with high positioning accuracies and can provide feedback of catheters in the human body with sub-millimeter precision. Furthermore, the ARMM workstation is separated from radiation, making it a safe alternative to X-ray fluoroscopy. The clinical relevance of the ARMM system is clearly supported by the current findings and the evidence from this dissertation suggests that it can be successfully deployed in future clinical practice. There is significant potential to contribute to improving patient care, benefit the next generation of vascular surgeons, and increase the efficiency of clinicians.

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Section: Improved (Electro)magnetsmentioning

confidence: 99%