Motion Control of Cable-Driven Continuum Catheter Robot through Contacts
| Autor: | Junghwan Back, Christian Duriez, Zhongkai Zhang, Jeremie Dequidt, Hongbin Liu |
|---|---|
| Přispěvatelé: | University of Lille, Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), King‘s College London, SOFA |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Optimization problem Computer science Physics::Medical Physics 0206 medical engineering Biomedical Engineering 02 engineering and technology Bending Contact force 020901 industrial engineering & automation Artificial Intelligence Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Contact [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Quadratic programming Motion control Mechanical Engineering 020601 biomedical engineering Linear complementarity problem [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation Finite element method Computer Science Applications Human-Computer Interaction Catheter Control and Systems Engineering Finite Element Method Robot Catheter robot Computer Vision and Pattern Recognition [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] Actuator |
| Zdroj: | IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters, IEEE 2019, 4 (2), pp.1852-1859. ⟨10.1109/LRA.2019.2898047⟩ IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1852-1859. ⟨10.1109/LRA.2019.2898047⟩ |
| ISSN: | 2377-3766 |
| Popis: | International audience; Catheter-based intervention plays an important role in minimally invasive surgery. For the closed-loop control of catheter robot through contacts, the loss of contact sensing along the entire catheter might result in task failure. To deal with this problem, we propose a decoupled motion control strategy which allows to control insertion and bending independently. We model the catheter robot and the contacts using the Finite Element Method. Then, we combine the simulated system and the real system for the closed-loop motion control. The control inputs are computed by solving a quadratic programming (QP) problem with a linear complementarity problem (LCP). A simplified method is proposed to solve this optimization problem by converting it into a standard QP problem. Using the proposed strategy, not only the control inputs but also the contact forces along the entire catheter can be computed without using force sensors. Finally, we validate the proposed methods using both simulation and experiments on a cable-driven continuum catheter robot for the real-time motion control through contacts. |
| Databáze: | OpenAIRE |
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