Towards Closed Loop Control of a Continuum Robotic Manipulator for Medical Applications
Robotic catheters are gaining widespread use in the medical community for cardiac, neurological and other surgical interventions. However, many of the catheters used in these procedures exhibit non non-linear behavior behavior, and thus present , many difficulties in implementing effective open open-loop control. Systems such as this have been shown to benefit from closed closed- loop control control, however very little investigation has been done , into 3D closed loop control of this class of manipulators manipulators. Initial investigations by the authors have shown greatly improv improved ed positioning ac accuracy and response with closed curacy closed-loop control based on feedback from an electromagnetic localization sensor. This paper describes the control approach and experimental results, and provides a robotic catheter system overview.
Ryan S. Penning Jinwoo Jung Justin A. Borgstadt Nicola J. Ferrier Michael R.Zinn
Mechanical Engineering Department,University of Wisconsin - Madison,Madison,WI 53706 USA Mechanical Engineering Department,University of Wi Wisconsin sconsin - Madison,Madison,WI 53706 USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4822-4827
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）