TY - GEN
T1 - Linear parameter varying control of a robot manipulator for aortic valve implantation
AU - Ramezanifar, A.
AU - Salimi, A.
AU - Mohammadpour, J.
AU - Kilicarslan, A.
AU - Grigoriadis, K.
AU - Tsekos, N. V.
PY - 2011
Y1 - 2011
N2 - In this paper, we propose a linear parameter varying (LPV) control design approach for trajectory tracking in a robotic system, intended to be involved in an image-guided teleoperated cardiac surgery. The robot is eventually aimed to guide a 3 degree-of-freedom medical tool (a catheter) inside the left ventricle (LV) and achieve the implantation of a prosthetic aortic valve. The successful delivery of the valve from the apical entrance to the aortic annulus strongly depends on the precise navigation of the catheter such that its probable collision with the LV's changing environment is avoided. The LPV control strategy is utilized here due to its ability to capture the nonlinearities of the designed robot manipulator and adapt in real-time based on the varying end effector's angle. The simulation studies demonstrate promising results achieved for a guaranteed safe navigation through LV.
AB - In this paper, we propose a linear parameter varying (LPV) control design approach for trajectory tracking in a robotic system, intended to be involved in an image-guided teleoperated cardiac surgery. The robot is eventually aimed to guide a 3 degree-of-freedom medical tool (a catheter) inside the left ventricle (LV) and achieve the implantation of a prosthetic aortic valve. The successful delivery of the valve from the apical entrance to the aortic annulus strongly depends on the precise navigation of the catheter such that its probable collision with the LV's changing environment is avoided. The LPV control strategy is utilized here due to its ability to capture the nonlinearities of the designed robot manipulator and adapt in real-time based on the varying end effector's angle. The simulation studies demonstrate promising results achieved for a guaranteed safe navigation through LV.
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U2 - 10.1115/DSCC2011-6186
DO - 10.1115/DSCC2011-6186
M3 - Conference contribution
AN - SCOPUS:84881429699
SN - 9780791854761
T3 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
SP - 121
EP - 127
BT - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
T2 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Y2 - 31 October 2011 through 2 November 2011
ER -