This paper details the development of a Neural Network (NN) controller for a Shape Memory Alloy (SMA) actuated catheter, with potential application to tele-operated cardiac ablation procedures. The robotic catheter prototype consists of a central tubular structure actuated by four SMA tendons. A dual-camera imaging system provides position feedback of the catheter tip. Open loop bending responses are obtained and associated nonlinearities are identified. A NN controller is designed using time-shifted input-output maps generated from randomized open loop measurements. The tracking performance of this NN controller is compared with PI/PID controllers for various reference trajectories.
- Dynamic Systems and Control Division
Design and Control of a Shape Memory Alloy Actuated Robotic Catheter
Veeramani, AS, Crews, JH, Buckner, GD, Owen, SB, Cook, RC, & Bolotin, G. "Design and Control of a Shape Memory Alloy Actuated Robotic Catheter." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 1131-1138. ASME. https://doi.org/10.1115/DSCC2008-2255
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