Research Papers

Design and Qualification of a Parallel Robotic Platform to Assist With Beating-Heart Intracardiac Interventions

[+] Author and Article Information
Amirhossein Salimi

Department of Mechanical Engineering,
University of Houston,
Houston, TX 77004
e-mail: asalimi@uh.edu

Amin Ramezanifar

Department of Mechanical Engineering,
University of Houston,
Houston, TX 77004
e-mail: aramezanifar@uh.edu

Javad Mohammadpour

College of Engineering,
The University of Georgia,
Athens, GA 30602
e-mail: javadm@uga.edu

Karolos M. Grigoriadis

Department of Mechanical Engineering,
University of Houston,
Houston, TX 77004
e-mail: karolos@uh.edu

Nikolaos V. Tsekos

Department of Computer Science,
University of Houston,
Houston, TX 77004
e-mail: nvtsekos@uh.edu

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 6(2), 021004 (Mar 04, 2014) (8 pages) Paper No: JMR-12-1134; doi: 10.1115/1.4026334 History: Received September 05, 2012; Revised November 23, 2013

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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Fig. 1

Landmarks used in reaching aortic annulus

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Fig. 2

Parallel mechanism architecture (top), and its expanded view (bottom)

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Fig. 3

Transmission system

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Fig. 4

The coordinate system used in deriving the kinematic equations

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Fig. 5

Jacobian matrix sensitivity analysis

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Fig. 6

Experimental setup including: (1) platform, (2) marker/mass weight, (3) DC motors, (4) transmission system, (5) motor driver board, (6) dSPACE real-time control and data acquisition system, (7) power supply, (8) camera, (9) control desk, (10) optical sensor interrogator, (11) LabView interface, (12) fiber optic sensors bundle, (13) sensor-cable connection point (14) optical encoder (15) DC motor (16) gearbox (17) coupler and pulley (18) stand (19) tension adjustment mechanism (20) sliding pulley, and (21) fixed pulley

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Fig. 7

Response of the system with a residual mass

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Fig. 9

Trajectory tracking using image feedback

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Fig. 10

Tension in the cables (top plot); system response for different pretensions (bottom plot)




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