Force Control of Flexible Catheter Robots for Beating Heart Surgery
Recent developments in cardiac catheter technology promise to allow physicians to perform most cardiac interventions without stopping the heart or opening the chest. However, current cardiac devices, including newly developed catheter robots, are unable to accurately track and interact with the fast moving cardiac tissue without applying potentially damaging forces. This paper examines the challenges of implementing force control on a flexible robotic catheter. In particular, catheter friction and backlash must be compensated when controlling tissue interaction forces. Force controller designs are introduced and evaluated experimentally in a number of configurations. The controllers are based on the inner position loop force control approach where the position trajectory is adjusted to achieve a desired force on the target. Friction and backlash compensation improved force tracking up to 86％ with residual RMS errors of 0.11 N while following a prerecorded cardiac tissue trajectory with accelerations of up to 3800 mm/s2. This performance provides sufficient accuracy to enable a wide range of beating heart surgical procedures.
Samuel B. Kesner Robert D. Howe
Harvard School of Engineering and Applied Sciences,Cambridge, MA, 02138 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
1589-1594
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）