ArticleIEEE robotics and automation letters2016
Parallel Force/Position Control of an Epicardial Parallel Wire Robot.
Article in IEEE robotics and automation letters, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
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Who cites it
6 citing papers in PubMed.
- Development of a Flexible Parallel Wire Robot for Epicardial Interventions.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
- Cable Tension Optimization for an Epicardial Parallel Wire Robot.Journal of medical devices · 2023Article
- Organ-mounted robot localization via function approximation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2019Article
- Robotics in cardiac surgery.Annals of the Royal College of Surgeons of England · 2018Review
- Beating-heart registration for organ-mounted robots.The international journal of medical robotics + computer assisted surgery : MRCAS · 2018Article
- Physiological motion modeling for organ-mounted robots.The international journal of medical robotics + computer assisted surgery : MRCAS · 2017Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
Gene therapies for heart failure have emerged in recent years, yet they lack an effective method for minimally invasive, uniform delivery. To address this need we developed a minimally invasive parallel wire robot for epicardial interventions. Accurate and safe interventions using this device require control of force in addition to injector position. Accounting for the nonidealities of the device design, however, yields nonlinear and underconstrained statics. This work solves these equations and demonstrates the efficacy of using this information in a parallel control scheme, which is shown to provide superior positioning compared to a position-only controller.
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Registered trials
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