Development of a general framework for precise control of continuum robots and application to endovascular replacement of aortic valves.

On-going efforts in robotics and automation research have fostered the development of a wide variety of continuum (snake-like) robots. Minimally invasive surgery (MIS) is one domain where the intrinsic safety of these robots is particularly appreciated. Thanks to their superior dexterity these devices can reach places that are otherwise inaccessible to the surgeon, paving the way for new and less invasive interventions. So far, most attention went to the fabrication and miniaturization of these devices, whereas their control received considerably less attention. The control challenge is great. Continuum robots require radically different controllers from those used in conventional rigid robots (rigid vs. compliant localized joints vs. continuum deformation). In addition, in MIS, the robots environment is invariably complex and deformable. The robot can thus not be treated isolated from its environment; its dynamic behaviour is coupled to that of the environment. This project will develop a unified framework for the control of continuum robots that adopts general mathematical descriptions of the continuum robot and its surroundings, derives ways to identify these models and proposes manners to control local (interaction force/stiffness) and global (shape) robot states with unprecedented level of detail. Within this project special micro-hydraulically actuated active catheters will be developed. These will be used to verify the achievable control performance and advance the treatment of cardiovascular diseases (CVD) as an instrument for endovascular aortic valve replacement.

Keywords:Robotics, Navigation, Minimal Invasive Surgery, Continuum robots, Control, Cardiovascular diseases, Miniaturization

Disciplines:Design theories and methods, Mechanics, Other mechanical and manufacturing engineering