scholarly journals Position Control of Motion Compensation Cardiac Catheters

2011 ◽  
Vol 27 (6) ◽  
pp. 1045-1055 ◽  
Author(s):  
Samuel B. Kesner ◽  
Robert D. Howe
Keyword(s):  
Motion Compensation ◽  
Position Control ◽  
Cardiac Catheters

scholarly journals Automatically steering cardiac catheters in vivo with respiratory motion compensation

2020 ◽  
Vol 39 (5) ◽  
pp. 586-597 ◽  
Author(s):  
Paul M Loschak ◽  
Alperen Degirmenci ◽  
Cory M Tschabrunn ◽  
Elad Anter ◽  
Robert D Howe
Keyword(s):  
Motion Compensation ◽  
Respiratory Motion ◽  
Mean Absolute Error ◽  
Absolute Error ◽  
Respiratory Motion Compensation ◽  
X Ray ◽  
Cardiac Catheters ◽  
The Us ◽  
Predictive Filtering

A robotic system for automatically navigating ultrasound (US) imaging catheters can provide real-time intra-cardiac imaging for diagnosis and treatment while reducing the need for clinicians to perform manual catheter steering. Clinical deployment of such a system requires accurate navigation despite the presence of disturbances including cyclical physiological motions (e.g., respiration). In this work, we report results from in vivo trials of automatic target tracking using our system, which is the first to navigate cardiac catheters with respiratory motion compensation. The effects of respiratory disturbances on the US catheter are modeled and then applied to four-degree-of-freedom steering kinematics with predictive filtering. This enables the system to accurately steer the US catheter and aim the US imager at a target despite respiratory motion disturbance. In vivo animal respiratory motion compensation results demonstrate automatic US catheter steering to image a target ablation catheter with 1.05 mm and 1.33° mean absolute error. Robotic US catheter steering with motion compensation can improve cardiac catheterization techniques while reducing clinician effort and X-ray exposure.

A new Technique for Position Control of Induction Motor Using Adaptive Inverse Control

2010 ◽  
Vol 6 (2) ◽  
pp. 116-122
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Induction Motor ◽  
Position Control ◽  
New Technique ◽  
Adaptive Inverse Control ◽  
Inverse Control ◽  
A New Technique

Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control

2017 ◽  
Vol 10 (4) ◽  
pp. 325
Author(s):  
Angie Julieth Valencia Castañeda ◽  
Mauricio Felipe Mauledoux Monroy ◽  
Oscar Fernando Avilés Sánchez ◽  
Paola Andrea Niño Suarez ◽  
Edgar Alfredo Portilla Flores
Keyword(s):  
Embedded System ◽  
Position Control ◽  
Differential Drive ◽  
Vehicle Position

A High Performance and Low Bandwidth Multi-Standard Motion Compensation Design for HD Video Decoder

2010 ◽  
Vol E93-C (3) ◽  
pp. 253-260 ◽  
Author(s):  
Xianmin CHEN ◽  
Peilin LIU ◽  
Dajiang ZHOU ◽  
Jiayi ZHU ◽  
Xingguang PAN ◽  
...  
Keyword(s):  
Motion Compensation ◽  
High Performance ◽  
Video Decoder ◽  
Compensation Design

Controllable Compliance Joint For Human Oriented Robots

2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov
Keyword(s):  
Numerical Experiments ◽  
Position Control ◽  
Joint Stiffness ◽  
Joint Motion ◽  
Compliance Control ◽  
Leaf Springs ◽  
Antagonistic Actuation

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.

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