Using robotic systems to assist with sophisticated medical interventions such as aortic valve replacement under beating heart conditions necessitates the development of dexterous manipulators to ensure a safe and reliable operation. These mechanisms should not only be capable of tracking the desired trajectories with a high level of accuracy but also need to cope with strict medical constraints such as environment compatibility, patient safety and compactness. In this paper, we propose to design and experimentally qualify a robotic platform that takes into account the aforementioned requirements. Benefiting from the features of a parallel architecture, this four degrees of freedom (DOF) magnetic resonance imaging (MRI)-compatible patient-mounted and cable-driven manipulator (ROBOCATHETER) seeks to steer cardiac catheters under beating heart condition, while suitably addressing the deficiencies that currently used manipulators vastly suffer from. In addition to the detailed description of the robot design and its dedicated power transmission system, we also present the derivation of the robot's forward and inverse kinematic equations. The control algorithm implemented for the system actuation is a varying-gain proportional-integral-derivative (PID) controller, whose tracking performance will be examined.
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Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions
Amirhossein Salimi,
Amirhossein Salimi
1
Mem. ASME
Department of Mechanical Engineering,
e-mail: asalimi@uh.edu
Department of Mechanical Engineering,
University of Houston
,Houston, TX 77004
e-mail: asalimi@uh.edu
1Corresponding author.
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Amin Ramezanifar,
Amin Ramezanifar
Mem. ASME
Department of Mechanical Engineering,
e-mail: aramezanifar@uh.edu
Department of Mechanical Engineering,
University of Houston
,Houston, TX 77004
e-mail: aramezanifar@uh.edu
Search for other works by this author on:
Javad Mohammadpour,
Javad Mohammadpour
2
2Previously with University of Houston.
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Karolos M. Grigoriadis,
Karolos M. Grigoriadis
Mem. ASME
Department of Mechanical Engineering,
e-mail: karolos@uh.edu
Department of Mechanical Engineering,
University of Houston
,Houston, TX 77004
e-mail: karolos@uh.edu
Search for other works by this author on:
Nikolaos V. Tsekos
Nikolaos V. Tsekos
Search for other works by this author on:
Amirhossein Salimi
Mem. ASME
Department of Mechanical Engineering,
e-mail: asalimi@uh.edu
Department of Mechanical Engineering,
University of Houston
,Houston, TX 77004
e-mail: asalimi@uh.edu
Amin Ramezanifar
Mem. ASME
Department of Mechanical Engineering,
e-mail: aramezanifar@uh.edu
Department of Mechanical Engineering,
University of Houston
,Houston, TX 77004
e-mail: aramezanifar@uh.edu
Javad Mohammadpour
Karolos M. Grigoriadis
Mem. ASME
Department of Mechanical Engineering,
e-mail: karolos@uh.edu
Department of Mechanical Engineering,
University of Houston
,Houston, TX 77004
e-mail: karolos@uh.edu
Nikolaos V. Tsekos
1Corresponding author.
2Previously with University of Houston.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 5, 2012; final manuscript received November 23, 2013; published online March 4, 2014. Assoc. Editor: Philippe Wenger.
J. Mechanisms Robotics. May 2014, 6(2): 021004 (8 pages)
Published Online: March 4, 2014
Article history
Received:
September 5, 2012
Revision Received:
November 23, 2013
Citation
Salimi, A., Ramezanifar, A., Mohammadpour, J., Grigoriadis, K. M., and Tsekos, N. V. (March 4, 2014). "Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions." ASME. J. Mechanisms Robotics. May 2014; 6(2): 021004. https://doi.org/10.1115/1.4026334
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