COAST导丝机器人的运动学建模与基于雅可比矩阵的控制
Kinematic Modeling and Jacobian-based Control of the COAST Guidewire Robot.
作者信息
Sarma Achraj, Brumfiel Timothy A, Chitalia Yash, Desai Jaydev P
机构信息
Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
出版信息
IEEE Trans Med Robot Bionics. 2022 Nov;4(4):967-975. doi: 10.1109/tmrb.2022.3216026. Epub 2022 Oct 20.
Abstract
Manual guidewire navigation and placement for minimally invasive surgeries suffer from technical challenges due to imprecise tip motion control to traverse highly tortuous vasculature. Robotically steerable guidewires can address these challenges by actuating a compliant tip through multiple degrees-of-freedom for maneuvering through vascular pathways. In this paper, we detail the kinematic mapping of a COaxially Aligned STeerable (COAST) guidewire robot that is capable of executing follow-the-leader motion in three dimensional vascular pathways. We also develop an analytical Jacobian model to perform velocity kinematics for the robot and finally, we implement Jacobian-based control to demonstrate follow-the-leader motion of the guidewire in free space, within 3D-printed phantoms, and within animal vasculature.
摘要
由于在穿越高度曲折的脉管系统时，手动导丝导航和放置存在尖端运动控制不精确的技术挑战。可机器人操控的导丝可以通过在多个自由度上驱动柔顺尖端来应对这些挑战，从而在血管路径中进行操纵。在本文中，我们详细介绍了一种同轴对齐可转向（COAST）导丝机器人的运动学映射，该机器人能够在三维血管路径中执行跟随运动。我们还开发了一个解析雅可比模型来执行机器人的速度运动学，最后，我们实现基于雅可比的控制，以展示导丝在自由空间、3D打印模型以及动物脉管系统中的跟随运动。
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