Abstract
Robotic control of flexible devices can enhance and simplify many medical procedures. We present a method for controlling the distal tip motion of a tendon driven cardiac catheter. The catheter’s shape is specified by a mechanics model which includes coupling of multiple sections. Shape is then transformed to end-effector location using a D-H kinematics model. The combined models are then inverted to translate desired tip motion to tendon displacement. The inversion optimizes positive tendon tension for n-arbitrarily located tendons. To validate the method, we present a bench-top experiment of a cardiac catheter emulating a circular ablation as a 6-DOF task. To reduce error, we present the first known experiments of sensor feedback control on the tip position of a continuum manipulator. The resulting system performs with sub-millimeter accuracy.KeywordsContinuum ManipulatorInverse KinematicMultiple SectionControl ConstraintJoint VariableThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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