心外膜平行丝机器人的并联力/位置控制
Parallel Force/Position Control of an Epicardial Parallel Wire Robot.
作者信息
Costanza Adam D, Breault Macauley S, Wood Nathan A, Passineau Michael J, Moraca Robert J, Riviere Cameron N
机构信息
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
Department of Mathematics, Muhlenberg College, Allentown, PA 18104 USA.
出版信息
IEEE Robot Autom Lett. 2016 Jul;1(2):1186-1191. doi: 10.1109/LRA.2016.2530162. Epub 2016 Feb 15.
Gene therapies for heart failure have emerged in recent years, yet they lack an effective method for minimally invasive, uniform delivery. To address this need we developed a minimally invasive parallel wire robot for epicardial interventions. Accurate and safe interventions using this device require control of force in addition to injector position. Accounting for the nonidealities of the device design, however, yields nonlinear and underconstrained statics. This work solves these equations and demonstrates the efficacy of using this information in a parallel control scheme, which is shown to provide superior positioning compared to a position-only controller.
近年来，针对心力衰竭的基因疗法已出现，但它们缺乏一种用于微创、均匀递送的有效方法。为满足这一需求，我们开发了一种用于心外膜干预的微创平行导线机器人。使用该设备进行准确且安全的干预除了需要控制注射器位置外，还需要控制力。然而，考虑到设备设计的不理想情况，会产生非线性和约束不足的静力学问题。这项工作求解了这些方程，并证明了在并行控制方案中使用此信息的有效性，与仅基于位置的控制器相比，该方案显示出更优的定位效果。
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