A parallel wire robot for epicardial interventions

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

et al. 2015

Self Cite

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 force-position control scheme as opposed to position decreases positioning error by 38%.

Section: Methodsmentioning

confidence: 99%

Toward hybrid force/position control for the Cerberus epicardial robot

Breault

Costanza

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

et al. 2015

Self Cite

“…The existing electrical control system [1] was adapted to incorporate three load cells using a pulley system and calibrated to measure the tension in each wire. For the purposes of this experiment, a desktop set-up was designed, capable of fixing the three bases of the robot to a planar surface while allowing variation of the lengths and angles of the arms at known values, as shown in Fig.…”

Section: Methodsmentioning

confidence: 99%

“…2). As provided by Costanza et al [1], the lengths of the wires are given by:

true[\begin{matrix} center {r_{l}}^{2} \\ center {r_{m}}^{2} \\ center {r_{r}}^{2} \end{matrix} true] = true[\begin{matrix} center {(x_{0} + L_{l} cos θ_{l})}^{2} + {(y_{0} - L_{l} sin θ_{l})}^{2} \\ center {x_{0}}^{2} + {y_{0}}^{2} \\ center {(x_{0} - L_{r} cos θ_{r})}^{2} + {(y_{0} - L_{r} sin θ_{r})}^{2} \end{matrix} true]

…”

Section: Methodsmentioning

confidence: 99%

“…Cerberus is a planar parallel wire robot developed for minimally invasive myocardial injections [1]. The device is inserted using a subxiphoid approach that accesses the heart while avoiding the lungs.…”

Section: Introductionmentioning

confidence: 99%

“…Previous work on Cerberus has focused on adapting previously developed control methods for parallel cable manipulators [1]. Under simplifying assumptions about the geometry of the robot and neglecting the curvature of the heart, inverse kinematics that yield the wire lengths were successfully derived, and a control system was developed and tested in vivo using only position feedback that required knowledge of the geometry.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Auto-calibration for a planar epicardial wire robot

Breault

Costanza

2015 41st Annual Northeast Biomedical Engineering Conference (NEBEC)

et al. 2015

Self Cite

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 controlling the movement of Cerberus required accurate knowledge of device geometry. In order to determine the geometry of the device in vivo, this paper presents work on developing an auto-calibration procedure to measure the geometry of the robot using force sensors to move injector. The presented auto-calibration routine is able to identify the shape of the device to within 0.5 mm and 0.9°.

Physiological motion modeling for organ‐mounted robots

Robotics Computer Surgery

Schwartzman

Zenati

et al. 2017

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Background Organ-mounted robots passively compensate heartbeat and respiratory motion. In model-guided procedures, this motion can be a significant source of information that can be used to aid in localization or to add dynamic information to static preoperative maps. Methods Models for estimating periodic motion are proposed for both position and orientation. These models are then tested on animal data and optimal orders are identified. Finally, methods for online identification are demonstrated. Results Models using exponential coordinates and Euler-angle parameterizations are as accurate as models using quaternion representations, yet require a quarter fewer parameters. Models which incorporate more than 4 cardiac or 3 respiration harmonics are no more accurate. Finally, online methods estimate model parameters as accurately as offline methods within 3 respiration cycles. Conclusions These methods provide a complete framework for accurately modelling the periodic deformation of points anywhere on the surface of the heart in a closed chest.