Parallel force/position control of an epicardial parallel wire robot - Robotics Institute Carnegie Mellon University

Parallel force/position control of an epicardial parallel wire robot

Adam D. Costanza, Macauley S. Breault, Nathan A. Wood, Michael J. Passineau, Robert J. Moraca, and Cameron N. Riviere
Journal Article, IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1186 - 1191, July, 2016

Abstract

Gene therapies for heart failure have emerged in recent years, yet they lack an effective method for minimally invasive, uniform delivery. To address this need we developed a minimally invasive parallel wire robot for epicardial interventions. Accurate and safe interventions using this device require control of force in addition to injector position. Accounting for the nonidealities of the device design, however, yields nonlinear and underconstrained statics. This work solves these equations and demonstrates the efficacy of using this information in a parallel control scheme, which is shown to provide superior positioning compared to a position-only controller.

BibTeX

@article{Riviere-2016-106366,
author = {Adam D. Costanza and Macauley S. Breault and Nathan A. Wood and Michael J. Passineau and Robert J. Moraca and Cameron N. Riviere},
title = {Parallel force/position control of an epicardial parallel wire robot},
journal = {IEEE Robotics and Automation Letters},
year = {2016},
month = {July},
volume = {1},
number = {2},
pages = {1186 - 1191},
keywords = {Force control; medical robotics and systems; organ-mounted robots; parallel robots},
}