Robust control design of remote catheter insertion mechanism with haptic feedback -- FULL TEXT IS NOT AVAILABLE

• Main Author: Kothari, Chintan Govindbhai
• Other Authors: Bahr, Behnam
• Format: Others
• Language: en_US
• Published: 2007
• Subjects: Electronic dissertations
• Online Access: http://hdl.handle.net/10057/663

Robotic surgery is becoming a popular technique for certain procedures since benefits of minimally invasive surgery (MIS) have become general knowledge. However, one of the major shortcomings of the present generation of master-slave robotic systems is the lack of haptic feedback; the surgeon that remotely controls the robot is not able to feel what is happening inside the patient. The objective of this thesis was to design a robust control system for a catheter insertion mechanism for cardiac catheterization with haptic feedback. This thesis is divided into two parts. The first part covers a comprehensive literature review, laboratory setup design and implementation. The second part covers the control aspect and design of a robust control. An H∞ controller was used to achieve system robustness. A new approach to find teleoperation system model for H∞ controller is given. The designed controller was implemented in MATLAB. === Thesis (M.S.)--Wichita State University, College of Engineering, Dept. of Mechanical Engineering. === "December 2006."