Model-Less Feedback Control of Continuum Manipulators in Constrained Environments

Yip, Michael C.; Camarillo, David B.

doi:10.1109/tro.2014.2309194

Cited by 222 publications

(109 citation statements)

References 38 publications

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“…As an alternative approach to the aforementioned model-based methods, we described a method for controlling continuum manipulators that adapts to the robot mechanics and environmental disturbances with minimal sensing, enabling it to operate in unknown and constrained environment such as the human body [62]. This method, called \model-less" control, was further extended to demonstrate hybrid control such that position and force trajectories could be regulated under unknown environments and unsensed constraints [63].…”

Section: State-of-artmentioning

confidence: 99%

“…c A more indepth analysis of the benefits and limitations of model-less control over model-based control can be found in the two publications by Yip and Camarillo [62,63].…”

Section: Cox-maze Trajectorymentioning

confidence: 99%

“…8, and the contact for condition ensured that the ablation energy is delivered only when the manipulator is in contact with the tissue. Decreasing windows for gating can [62]. This behavior can be avoided by learning the Jacobian using model-less feedback control.…”

Section: Cox-maze Trajectorymentioning

confidence: 99%

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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%

“…c A more indepth analysis of the benefits and limitations of model-less control over model-based control can be found in the two publications by Yip and Camarillo [62,63].…”

Section: Cox-maze Trajectorymentioning

confidence: 99%

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Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Yip

Sganga

Camarillo

2017

J. Med. Robot. Res.

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“…In order to control the catheter in configuration and task spaces, while avoiding tendon slack issues, the authors optimized the actuation loads by considering the tendon slack constraints together with the kinematics and the Jacobian. Yip and Camarillo [34] proposed a model-less feedback position control scheme for catheter manipulation in constrained environments. In this method, the controller continually updates an estimated Jacobian, which relates incremental actuation to end effector displacements, using end-effector position measurements.…”

Section: Related Studiesmentioning

confidence: 99%

Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System

Liu

Jackson

Franson

et al. 2017

IEEE/ASME Trans. Mechatron.

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This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip, by the magnetic field of the magnetic resonance imaging (MRI) scanner. The Jacobian matrix relating changes of the currents through the coils to changes of the tip position is derived using a three dimensional kinematic model of the catheter deflection. The inverse kinematics is numerically computed by iteratively applying the inverse of the Jacobian matrix. The damped least square method is implemented to avoid numerical instability issues that exist during the computation of the inverse of the Jacobian matrix. The performance of the proposed inverse kinematics approach is validated using a prototype of the robotic catheter by comparing the actual trajectories of the catheter tip obtained via open-loop control with the desired trajectories. The results of reproducibility and accuracy evaluations demonstrate that the proposed Jacobian-based inverse kinematics method can be used to actuate the catheter in open-loop to successfully perform complex ablation trajectories required in atrial fibrillation ablation procedures. This study paves the way for effective and accurate closed-loop control of the robotic catheter with real-time feedback from MRI guidance in subsequent research.

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“…Control of continuum tubular robots based on complex kinematic models is usually cumbersome [8], [9] and the models are not accurate when the robots collide with anatomical obstacles in the constrained surgical environments [10], [11]. Hence, effective motion planning algorithms have been continuously investigated to guide continuum tubular robots to the desired surgical sites without colliding with blood vessels, nerves and tissues.…”

Section: Introductionmentioning

confidence: 99%

Motion planning of continuum tubular robots based on centerlines extracted from statistical atlas

Ren

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Continuum tubular robots, which are constructed by telescoping pre-curved elastic tubes, are capable of balancing the force application and steerability during minimally invasive surgeries. These devices are able to reach the desired surgical sites in body cavities without colliding with critical blood vessels, nerves and tissues. However, the motion planning of continuum tubular robots is quite challenging because of their complicated kinematics as well as the high dimensional configuration space. In this paper, a sampling-based motion planning method is proposed based on the Rapidly-exploring Random Tree (RRT) algorithm for continuum tubular robots in 3D environments, such as medullary cavities. The proposed motion planner enables a continuum tubular robot to maneuver roughly along the central axis of the statistical humerus atlas in an approximate follow-the-leader manner. The experiment results have demonstrated the effectiveness and superiority of the proposed motion planning algorithm.

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Model-Less Feedback Control of Continuum Manipulators in Constrained Environments

Cited by 222 publications

References 38 publications

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks

Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System

Motion planning of continuum tubular robots based on centerlines extracted from statistical atlas

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