TY - GEN
T1 - Robocath
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
AU - Salimi, Amirhossein
AU - Ramezanifar, Amin
AU - Mohammadpour, Javad
AU - Grigoriadis, K.
AU - Tsekos, N. V.
PY - 2012
Y1 - 2012
N2 - Hosting the cardiac catheters and the necessity for their precise and collision-free navigation in transapical beating-heart interventions require the development of dexterous and reliable robotic platforms. These mechanisms should not only be capable of tracking the desired trajectories with high level of accuracy but also have to have the potential to cope with strict medical constraints such as environment compatibility, patient safety and compactness. In this paper, we propose a robotic platform that takes into account the above mentioned requirements. Benefiting from a state-of-the-art parallel structure, this four degreeof-freedom MRI-compatible patient-mounted and cable-driven manipulator (that we name ROBOCATH) seeks to steer cardiac catheters under beating heart condition, while suitably addressing the deficiencies that currently used manipulators vastly suffer from. In addition to the detailed description of the robot design and its specifications, kinematic model along with some experimental results on the prototype are provided.
AB - Hosting the cardiac catheters and the necessity for their precise and collision-free navigation in transapical beating-heart interventions require the development of dexterous and reliable robotic platforms. These mechanisms should not only be capable of tracking the desired trajectories with high level of accuracy but also have to have the potential to cope with strict medical constraints such as environment compatibility, patient safety and compactness. In this paper, we propose a robotic platform that takes into account the above mentioned requirements. Benefiting from a state-of-the-art parallel structure, this four degreeof-freedom MRI-compatible patient-mounted and cable-driven manipulator (that we name ROBOCATH) seeks to steer cardiac catheters under beating heart condition, while suitably addressing the deficiencies that currently used manipulators vastly suffer from. In addition to the detailed description of the robot design and its specifications, kinematic model along with some experimental results on the prototype are provided.
UR - http://www.scopus.com/inward/record.url?scp=84885930893&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885930893&partnerID=8YFLogxK
U2 - 10.1115/DSCC2012-MOVIC2012-8846
DO - 10.1115/DSCC2012-MOVIC2012-8846
M3 - Conference contribution
AN - SCOPUS:84885930893
SN - 9780791845318
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 471
EP - 480
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -