Control of a high dexterity micro-robot based catheter for aortic aneurysm treatment
Bailly, Y.
Chauvin, A.
Amirat, Y.
LIIA Lab., Paris 12 Univ., Vitry-sur-Seine, France;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 1,
On page(s): 65- 70 vol.1
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8411998
Current Version Published: 2005-06-13
Abstract
Endovascular aortic aneurysm treatment is a minimally invasive surgery (MIS) which requires high dexterity for stentgraft delivering. In this paper, we propose and develop a new active catheter with a multi micro-robots stack arranged inside its external sheath. That serial-parallel type of robot is constituted by three bellows disposed 120° apart, providing three additional degrees of freedom. This paper deals with a brief design overview of the new micro-robot based catheter focusing on its inverse modeling. A Cartesian orientation control algorithm is then presented and an integration of multi purpose criterions is demonstrated.
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