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Full-Text Articles in Controls and Control Theory
Modeling And Control Of Steerable Ablation Catheters, Mahta Khoshnam Tehrani
Modeling And Control Of Steerable Ablation Catheters, Mahta Khoshnam Tehrani
Electronic Thesis and Dissertation Repository
Catheters are long, flexible tubes that are extensively used in vascular and cardiac interventions, e.g., cardiac ablation, coronary angiography and mitral valve annuloplasty. Catheter-based cardiac ablation is a well-accepted treatment for atrial fibrillation, a common type of cardiac arrhythmia. During this procedure, a steerable ablation catheter is guided through the vasculature to the left atrium to correct the signal pathways inside the heart and restore normal heart rhythm. The outcome of the ablation procedure depends mainly on the correct positioning of the catheter tip at the target location inside the heart and also on maintaining a consistent contact between the …
Control Of Cooperative Haptics-Enabled Teleoperation Systems With Application To Minimally Invasive Surgery, Amir Takhmar
Control Of Cooperative Haptics-Enabled Teleoperation Systems With Application To Minimally Invasive Surgery, Amir Takhmar
Electronic Thesis and Dissertation Repository
Robot-Assisted Minimally Invasive Surgical (RAMIS) systems frequently have a structure of cooperative teleoperator systems where multiple master-slave pairs are used to collaboratively execute a task. Although multiple studies indicate that haptic feedback improves the realism of tool-tissue interaction to the surgeon and leads to better performance for surgical procedures, current telesurgical systems typically do not provide force feedback, mainly because of the inherent stability issues. The research presented in this thesis is directed towards the development of control algorithms for force reflecting cooperative surgical teleoperator systems with improved stability and transparency characteristics. In the case of cooperative force reflecting teleoperation …