Abstract
This paper presents a microrobot of continuum type that satisfies constraints in terms of degrees of freedom, size, and safety for endovascular surgery. The proposed instrument, which integrates multiple microrobots and a catheter, is called the Multi Active LInk CAtheter (MALICA). Its structure is redundant, compliant, and compact, which makes it a well-suited solution to control the catheter shape. In this paper, we focus on a single microrobot and its actuation to control the orientation of the catheter's distal extremity. The kinematic and differential kinematic models of the microrobot are developed. Because of its kinematic redundancy, the orientation control is formulated as an optimization problem. A differential model-based control scheme is proposed and experimentally validated.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
