A variable structure controller for a tentacle manipulator

Ivănescu, Mircea; Stoian, Viorel

doi:10.1109/robot.1995.525734

Cited by 53 publications

(21 citation statements)

References 5 publications

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“…In order to address this, considerable work has followed in modelling the mechanics of manipulators. Mechanics models have been developed for tendon-driven manipulators [32], pneumatically/hydraulically actuated manipulators [26,[33][34][35], concentric-tube manipulators [29,36,37], and SMA-actuated manipulators [38][39][40][41][42][43]. Some of these methods have been extended to not only regulate position of the end-effector but also end-effector forces.…”

Section: State-of-artmentioning

confidence: 99%

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Yip

Sganga

Camarillo

2017

J. Med. Robot. Res.

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Continuum manipulators enable minimally-invasive surgery on the beating heart, but the challenges involved in manually controlling the manipulator's tip position and contact force with the tissue result in failed procedures and complications. The objective of this work is to achieve autonomous robotic control of a continuum manipulator's position and force in a beating heart model. We present a model-less hybrid control approach that regulates the tip position/force of manipulators with unknown kinematics/ mechanics, under unknown constraints along the manipulator's body. The algorithms estimate the Jacobian in the presence of heartbeat disturbances and sensor noise in real time, enabling closed-loop control. Using this model-less control approach, a robotic catheter autonomously traced clinically relevant paths on a simulated beating heart environment while regulating contact force. A gating procedure is used to tighten the treatment margins and improve precision. Experimental results demonstrate the capabilities of the robot (1:4 AE 1:1 mm-1:9 AE 1:4 mm tracking error) while user demonstrations show the difficulty of manually performing the same task (2:6 AE 2:0 mm-4:3 AE 3:9 mm tracking error). This new, robotically-enabled contiguous ablation method could reduce ablation path discontinuities, improve consistency of treatment, and therefore improve clinical outcomes.

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Section: State-of-artmentioning

confidence: 99%

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Yip

Sganga

Camarillo

2017

J. Med. Robot. Res.

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“…In the earliest studies [6,7], Mochiyama et al presented the general framework of kinematic and dynamic modeling of hyper-redundant flexible manipulators, while the elastic potential energy due to bending is not included in the model. Ivanescu et al [8][9][10] introduced dynamic model for hyper-redundant manipulators with the assumption of two degrees of freedom in each section. In the developed model, the authors have considered the elastic potential energy in deriving the corresponding equations.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Passivity-Based Dynamic Control for Tendon-Driven Catheters

Soltani

Khanmohammadi

Ghalichi

2016

MATEC Web of Conferences

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Abstract. This paper presents a three-dimensional dynamic model for active catheters commonly implemented in cardiac ablation, and introduces nonlinear closed-form model-based control scheme. The dynamic model includes rotational, translational and bending effects, moreover entails simple formulation to be implemented in real-time clinical application. Then, Lyapunov-based position control strategy is developed to locate the catheter tip at the desired position. Results verify the viability of the introduced approach for its applicability in robot-assisted cardiac ablation.

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“…Example of a non-redundant, rigid-link master controlling a redundant, continuum slave system and a general representation of the proposed teleoperation system uum manipulators have been established [18], [19] [20], [21] while Kapadia and Walker recently developed a model-based task-space controller for the Octarm continuum manipulator [22] which could regulate any location on the manipulator backbone. Teleoperation of continuum robot arms using a 3-DOF video-gaming joystick was initially discussed in [23], though in this case the master system was not a robotic manipulator itself.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master

Kapadia

Walker

Tatlıcıoğlu

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a nonredundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

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A variable structure controller for a tentacle manipulator

Cited by 53 publications

References 5 publications

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Three-Dimensional Passivity-Based Dynamic Control for Tendon-Driven Catheters

Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master

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