@inproceedings{da974ec8c14146fe85bccd7119328656,
title = "Parallel PositionForce Control of Epicardial Wire Robot Based on Ellipsoid Geodesy",
abstract = "Gene therapies are emerging as an increasingly promising treatment for congestive heart failure. However, their effectiveness is linked to the method for delivery to the target region of the heart. Current methods lack an approach for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Accurate and safe interventions using this device require regulation of force in addition to injector position. Prior work on Cerberus involved developing and implementing a parallel position/force controller for a simplified planar model. This work adapts the Cerberus robot to explore the effectiveness of a control approach that accounts more realistically for the geometry of the heart by modeling it as a prolate ellipsoid.",
author = "E. Wilde and S. Dan and Wood, {N. A.} and Passineau, {M. J.} and Halbreiner, {M. S.} and Zenati, {M. A.} and Riviere, {C. N.}",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Symposium on Medical Robotics, ISMR 2019 ; Conference date: 03-04-2019 Through 05-04-2019",
year = "2019",
month = may,
day = "8",
doi = "10.1109/ISMR.2019.8710202",
language = "English (US)",
series = "2019 International Symposium on Medical Robotics, ISMR 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2019 International Symposium on Medical Robotics, ISMR 2019",
}