| Autor: |
Richard L. Pratt, Brooke E. Suesser, Andrew J. Petruska |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Robotics, Vol 12, Iss 1, p 11 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2218-6581 |
| DOI: |
10.3390/robotics12010011 |
| Popis: |
This paper models an extensible catheter with an embedded magnet at its distal tip subject to an external magnetic field. We implement a control method coined observed control to perform model-based predictive control of the catheter using a Kalman smoother framework. Using this same smoother framework, we also solve for catheter shape and orientation given magnetic and insertion control using Cosserat rod theory and implement a disturbance observer for closed-loop control. We demonstrate observed control experimentally by traversing a 3D cube trajectory with the catheter tip. The catheter achieved positional accuracy of 3.3 mm average error in open-loop, while closed-loop control improved the accuracy to 0.33 mm. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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