Shape sensing and feedback control of the catheter robot for interventional surgery

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Fei Qi ◽  
Bai Chen ◽  
Shigang She ◽  
Shuyuan Gao
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Kinematic Model ◽  
Shape Reconstruction ◽  
Reconstruction Method ◽  
Content Type ◽  
Feedback Control Strategy ◽  
Shape Sensing ◽  
Control Accuracy ◽  
Reconstruction Model

Purpose This paper aims to present a shape sensing method and feedback control strategy based on fiber Bragg grating (FBG) sensor to improve the control accuracy of the robot and ensure the safety of the cardiac interventional surgery. Design/methodology/approach To theoretically describe the shape of the catheter robot, the kinematic model is established by the geometric analysis method. And to obtain the actual shape, a large curvature assemble sensor based on FBG is adopted and a novel simple shape reconstruction model is proposed, which can provide the shape curve and distal position. In addition, the influence of external load on the bending deformation is investigated by experiments. To improve the shape accuracy of the robot, a shape feedback control method is presented to control the catheter robot, which can control the robot to bend into the pre-given desired shape. Findings Experiment results verify the effectiveness of the shape sensing method and the reconstruction model, and the correlation coefficients of three sets of curve in different coordinate directions are 0.9986, 0.9992 and 0.9999. Results of the shape feedback experiment show that the curvature error and direction angle error are 1.42% and 10.3%, respectively. The continuum catheter robot can be controlled to achieve the desired bending shape. Originality/value The shape reconstruction method and feedback control strategy proposed in this paper can improve the control accuracy of the robot to avoid the risk of the collision with the surrounding blood vessels, the tissues and organs.

scholarly journals An Optimal Feedback Control Strategy for Nonlinear, Distributed-Parameter Processes

Processes ◽  
2019 ◽  
Vol 7 (10) ◽  
pp. 758 ◽  
Author(s):  
Debaprasad Dutta ◽  
Simant Ranjan Upreti
Keyword(s):  
Feedback Control ◽  
Oil Recovery ◽  
Control Strategy ◽  
Moving Boundary ◽  
State Feedback Control ◽  
Optimal Feedback Control ◽  
Distributed Parameter ◽  
Optimal State ◽  
Non Linear ◽  
Feedback Control Strategy

In this work, an optimal state feedback control strategy is proposed for non-linear, distributed-parameter processes. For different values of a given parameter susceptible to upsets, the strategy involves off-line computation of a repository of optimal open-loop states and gains needed for the feedback adjustment of control. A gain is determined by minimizing the perturbation of the objective functional about the new optimal state and control corresponding to a process upset. When an upset is encountered in a running process, the repository is utilized to obtain the control adjustment required to steer the process to the new optimal state. The strategy is successfully applied to a highly non-linear, gas-based heavy oil recovery process controlled by the gas temperature with the state depending non-linearly on time and two spatial directions inside a moving boundary, and subject to pressure upsets. The results demonstrate that when the process has a pressure upset, the proposed strategy is able to determine control adjustments with negligible time delays and to navigate the process to the new optimal state.

Trajectory tracking and point stability of three-axis aero-dynamic pendulum with MPC strategy in disturbance environment

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xiaofeng Liu ◽  
Jiahong Xu ◽  
Yuhong Liu
Keyword(s):  
Predictive Model ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Kinematic Model ◽  
Control Variable ◽  
Optimal Solution ◽  
Intelligent Manufacturing ◽  
Pendulum System ◽  
Content Type ◽  
3D Space

Purpose The purpose of this research on the control of three-axis aero-dynamic pendulum with disturbance is to facilitate the applications of equipment with similar pendulum structure in intelligent manufacturing and robot. Design/methodology/approach The controller proposed in this paper is mainly implemented in the following ways. First, the kinematic model of the three-axis aero-dynamic pendulum is derived in state space form to construct the predictive model. Then, according to the predictive model and objective function, the control problem can be expressed a quadratic programming (QP) problem. The optimal solution of the QP problem at each sampling time is the value of control variable. Findings The trajectory tracking and point stability tests performed on the 3D space with different disturbances are validated and the results show the effectiveness of the proposed control strategy. Originality/value This paper proposes a nonlinear unstable three-axis aero-dynamic pendulum with less power devices. Meanwhile, the trajectory tracking and point stability problem of the pendulum system is investigated with the model predictive control strategy.

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