Three-Dimensional Passivity-Based Dynamic Control for Tendon-Driven Catheters
1 Department of Electrical and Computer Engineering at University of Tabriz, Tabriz, Iran
2 Department of Biomedical Engineering at Sahand University of Technology, Tabriz, Iran
This paper presents a three-dimensional dynamic model for active catheters commonly implemented in cardiac ablation, and introduces nonlinear closed-form model-based control scheme. The dynamic model includes rotational, translational and bending effects, moreover entails simple formulation to be implemented in real-time clinical application. Then, Lyapunov-based position control strategy is developed to locate the catheter tip at the desired position. Results verify the viability of the introduced approach for its applicability in robot-assisted cardiac ablation.
© Owned by the authors, published by EDP Sciences, 2016
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