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

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.

[1]  Hugh Calkins,et al.  First experience with a novel robotic remote catheter system: Amigo™ mapping trial , 2013, Journal of Interventional Cardiac Electrophysiology.

[2]  Robert D. Howe,et al.  Force control of flexible catheter robots for beating heart surgery , 2011, 2011 IEEE International Conference on Robotics and Automation.

[3]  Robert J. Webster,et al.  Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review , 2010, Int. J. Robotics Res..

[4]  Ian D. Walker,et al.  A model-based sliding mode controller for extensible continuum robots , 2010 .

[5]  R. Viswanathan,et al.  Accurate and Reproducible Target Navigation with the Stereotaxis Niobe® Magnetic Navigation System , 2007 .

[6]  J. Brachmann,et al.  Atrial fibrillation ablation using a robotic catheter remote control system: initial human experience and long-term follow-up results. , 2008, Journal of the American College of Cardiology.

[7]  Mircea Ivanescu,et al.  A variable structure controller for a tentacle manipulator , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[8]  Hiromi Mochiyama,et al.  Kinematics and dynamics of a cable-like hyper-flexible manipulator , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[9]  Bryan A. Jones,et al.  Three dimensional statics for continuum robotics , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Yili Fu,et al.  Steerable catheters in minimally invasive vascular surgery , 2009, The international journal of medical robotics + computer assisted surgery : MRCAS.

[11]  Christopher D. Rahn,et al.  Geometrically exact dynamic models for soft robotic manipulators , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  H. Mochiyama,et al.  Hyper-flexible robotic manipulators , 2005, IEEE International Symposium on Micro-NanoMechatronics and Human Science, 2005.

[13]  Nirvana Popescu,et al.  A Variable Length Tentacle Manipulator Control System , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[14]  Farrokh Janabi-Sharifi,et al.  Kinematic characterization of a cardiac ablation catheter , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Mircea Ivanescu,et al.  Position dynamic control for a tentacle manipulator , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[16]  Oliver Sawodny,et al.  A variable curvature modeling approach for kinematic control of continuum manipulators , 2013, 2013 American Control Conference.

[17]  Christopher D. Rahn,et al.  Geometrically Exact Models for Soft Robotic Manipulators , 2008, IEEE Transactions on Robotics.

[18]  Rajnikant V. Patel,et al.  Modeling of a steerable catheter based on beam theory , 2012, 2012 IEEE International Conference on Robotics and Automation.

[19]  John Kenneth Salisbury,et al.  Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive , 2009, IEEE Transactions on Robotics.

[20]  Ian D. Walker,et al.  New dynamic models for planar extensible continuum robot manipulators , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  S. Moosavian,et al.  Modeling and control of a planar continuum robot , 2011, 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[22]  A. Kapoor,et al.  Suturing in confined spaces: constrained motion control of a hybrid 8-DoF robot , 2005, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005..

[23]  E. Gang,et al.  Remote Navigation for Ablation Procedures - A New Step Forward in the Treatment of Cardiac Arrhythmias , 2010 .

[24]  Ian D. Walker,et al.  Dynamic Modelling for Planar Extensible Continuum Robot Manipulators , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[25]  John Kenneth Salisbury,et al.  Mechanics Modeling of Tendon-Driven Continuum Manipulators , 2008, IEEE Transactions on Robotics.