Title :

Motion Control of Cable-Driven Continuum Catheter Robot through Contacts

Author(s) :

Zhang, Zhongkai [Auteur]
Dequidt, Jeremie [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Back, Junghwan [Auteur]
King‘s College London
Liu, Hongbin [Auteur]
King‘s College London
Duriez, Christian [Auteur]

Journal title :

IEEE Robotics and Automation Letters

Pages :

1852-1859

Publisher :

IEEE

Publication date :

2019-02-07

ISSN :

2377-3766

English keyword(s) :

Linear complementarity problem
Catheter robot
Finite Element Method
Contact
Motion control

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Automatique
Mathématiques [math]/Optimisation et contrôle [math.OC]

English abstract : [en]

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 ...
Show more >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.Show less >

Language :

Anglais

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL