SENSOR-FREE FORCE AND POSITION CONTROL OF TENDON-DRIVEN CATHETERS THROUGH INTERACTION MODELING
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United States of America Patent
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Issued Date -
Jul 14, 2022
app pub date -
Jan 11, 2022
filing date -
Jan 11, 2021
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Abstract
A method and system for controlling a force applied by a tip of a tendon-driven steerable catheter to a tissue of a body part through position control of the catheter. A forward force-contact model determines a desired indentation depth from a desired force and an inverse kinematic model determines a desired configuration of the catheter system based on the desired indentation depth of the tip. A feedback control loop determines an actual indentation depth based on an actual position of the tip within the tip and a position of the tip in free space corresponding to an actual configuration of the catheter and estimates an actual force applied on said tissue based on said actual indentation depth.
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