Probabilistic kinematic model of a robotic catheter for 3D position control
In Soft Robotics, Marie Ann Liebert Inc. publishers, volume o.A., pages o.A., 2018.
Continuum robots oﬀer compliant and dexterous operations, which are suitable to be used in unstructured environments. Tendon-driven catheters, owing to their continuum structure, are applied in minimal invasive surgeries such as intracardiac interventions. However, due to the intrinsic nonlinearities and external disturbances, it is still a challenging task to accurately steer the catheter tip to the desired 3D positions. In this paper, we proposed a new probabilistic kinematic model and a model-based three-dimensional position control scheme for a tendon-driven cardiac catheter. A dynamic Gaussian-based probabilistic model is developed to learn a mapping from the catheter states to the control actions. Based on the probabilistic model, a closed-loop position control is developed, in which the catheter is driven by a new designed catheter driver system and tracked by a multiple near-infrared cameras system. The proposed catheter framework is evaluated by the 3D trajectory tracking experiments both in a real 3D open space and in a minimum-energy based simulator. The proposed control framework approximates the general kinematic by a combination of a catheter translation model and a distal workspace model, which provide the ability of automatically positioning the catheter tip in 3D and improving the accuracy by compensating the learned nonlinear eﬀects.
robotic catheter, probabilistic model, optical tracking, position control, surgical robot