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IEEE Robot Autom Lett. 2016 Jul;1(2):1186-1191. Epub 2016 Feb 15.

Parallel Force/Position Control of an Epicardial Parallel Wire Robot.

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Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
Department of Mathematics, Muhlenberg College, Allentown, PA 18104 USA.
Allegheny General Hospital, Pittsburgh, PA 15212 USA.


Gene therapies for heart failure have emerged in recent years, yet they lack an effective method for minimally invasive, uniform delivery. To address this need we developed a minimally invasive parallel wire robot for epicardial interventions. Accurate and safe interventions using this device require control of force in addition to injector position. Accounting for the nonidealities of the device design, however, yields nonlinear and underconstrained statics. This work solves these equations and demonstrates the efficacy of using this information in a parallel control scheme, which is shown to provide superior positioning compared to a position-only controller.


Force control; medical robotics and systems; organ-mounted robots; parallel robots

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