Parallel PositionForce Control of Epicardial Wire Robot Based on Ellipsoid Geodesy

E. Wilde, S. Dan, N. A. Wood, M. J. Passineau, M. S. Halbreiner, M. A. Zenati, C. N. Riviere

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Gene therapies are emerging as an increasingly promising treatment for congestive heart failure. However, their effectiveness is linked to the method for delivery to the target region of the heart. Current methods lack an approach for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Accurate and safe interventions using this device require regulation of force in addition to injector position. Prior work on Cerberus involved developing and implementing a parallel position/force controller for a simplified planar model. This work adapts the Cerberus robot to explore the effectiveness of a control approach that accounts more realistically for the geometry of the heart by modeling it as a prolate ellipsoid.

Original languageEnglish (US)
Title of host publication2019 International Symposium on Medical Robotics, ISMR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538678251
DOIs
StatePublished - May 8 2019
Externally publishedYes
Event2019 International Symposium on Medical Robotics, ISMR 2019 - Atlanta, United States
Duration: Apr 3 2019Apr 5 2019

Publication series

Name2019 International Symposium on Medical Robotics, ISMR 2019

Conference

Conference2019 International Symposium on Medical Robotics, ISMR 2019
Country/TerritoryUnited States
CityAtlanta
Period4/3/194/5/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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