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Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve Implantation

[+] Author Affiliations
A. Ramezanifar, A. Salimi, J. Mohammadpour, A. Kilicarslan, K. Grigoriadis, N. V. Tsekos

University of Houston, Houston, TX

Paper No. DSCC2011-6186, pp. 121-127; 7 pages
doi:10.1115/DSCC2011-6186
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME

abstract

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.

Copyright © 2011 by ASME
Topics: Valves , Manipulators

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