Modélisation et commande d'un micro-robot hybride : application à la pose d'endoprothèses aortiques en chirurgie mini-invasive

摘要

Endovascular aortic aneurysm treatment is a minimally invasive surgery which requires high dexterity for stent graft delivering. To improve this procedure, we have developed a new active catheter with a multi continuum micro-robots stack arranged inside its external sheath. In this thesis we present a new direct static model formulation of this tool called MALICA (Multi Active LInk CAtheter). Furthermore, thanks to the differential model of MALICA, we analyse its geometrical properties (workspace, dexterity). Owing to the redundancy property of MALICA, the inverse static model is solved as a minimization of a linear objective function subjected to linear constraints. Finally, from the inverse jacobian matrix of MALICA, we develop an orientation control scheme with multi-purpose criterion. Additionally, we demonstrate its validity by experimental results.