Toward hybrid force/position control for the Cerberus epicardial robot - Robotics Institute Carnegie Mellon University

Toward hybrid force/position control for the Cerberus epicardial robot

Macauley S. Breault, Adam D. Costanza, Nathan A. Wood, Michael J. Passineau, and Cameron N. Riviere
Conference Paper, Proceedings of 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '15), pp. 7776 - 7779, August, 2015

Abstract

Gene therapies have emerged as a promising treatment for congestive heart failure, yet they lack a method for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Prior work on Cerberus was limited to controlling the device using only position feedback. In order to ensure safety for both the patient and the device, as well as to improve the performance of the device, this paper presents work on enhancing the existing system with force feedback capabilities. By modeling the statics of the system and developing a tension distribution optimization technique, existing position control schemes were modified to a hybrid force/position controller. Experimental results show that using a hybrid forceposition control scheme as opposed to position decreases positioning error by 38%.

BibTeX

@conference{Riviere-2015-106377,
author = {Macauley S. Breault and Adam D. Costanza and Nathan A. Wood and Michael J. Passineau and Cameron N. Riviere},
title = {Toward hybrid force/position control for the Cerberus epicardial robot},
booktitle = {Proceedings of 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '15)},
year = {2015},
month = {August},
pages = {7776 - 7779},
keywords = {medical robotics, beating heart surgery, wire robot},
}