Auto-Calibration for a Planar Epicardial Wire Robot.
Auto-Calibration for a Planar Epicardial Wire Robot.
复制标题
平面心外膜线机器人的自动校准。
DOI：
10.1109/nebec.2015.7117150
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Riviere,CameronN
中科院分区：
文献类型：
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作者：
Breault,MacauleyS;Costanza,AdamD;Wood,NathanA;Passineau,MichaelJ;Riviere,CameronN
Gene therapies have emerged as a promising treatment for congestive heart failure, yet they lack a method for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Prior work on controlling the movement of Cerberus required accurate knowledge of device geometry. In order to determine the geometry of the device in vivo, this paper presents work on developing an auto-calibration procedure to measure the geometry of the robot using force sensors to move injector. The presented auto-calibration routine is able to identify the shape of the device to within 0.5 mm and 0.9°.
