Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

PD Controller: Design01:26

PD Controller: Design

693
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
693
Torque Free Motion01:15

Torque Free Motion

900
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
900
Motor Unit Stimulation01:20

Motor Unit Stimulation

4.6K
When the neuron of a motor unit fires an action potential, it triggers a series of events, leading to a twitch contraction in the muscle fibers. The process of excitation-contraction coupling is crucial in relaying the action potential to the muscle fibers.
The latent period of contraction marks the onset of excitation-contraction coupling, when the action potential propagates across the sarcolemma, preparing the muscle fibers for contraction. As the fibers enter the contraction phase, the...
4.6K
PI Controller: Design01:24

PI Controller: Design

1.4K
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
1.4K
Magnetic Force Between Two Parallel Currents01:13

Magnetic Force Between Two Parallel Currents

4.9K
Two long, straight, and parallel current-carrying conductors exert a force of equal magnitude on one another. The direction of the force depends on the current direction in the conductors.
The force exerted by the magnetic field due to the first conductor over a finite length of the second conductor is given as the product of the current in the second conductor and  the vector product of the length vector along the current element and the field due to the first conductor. According to the...
4.9K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Toward autonomous robotic-assisted and microrobotic surgery.

Science advances·2026
Same author

Results of a Phase 1 Open-Label, Dose-Escalation Study of Gene Therapy With AAV2-hAQP1 for Grade 2 and 3 Radiation-Induced Late Xerostomia and Parotid Gland Hypofunction.

International journal of radiation oncology, biology, physics·2026
Same author

Design and Validation of a Recirculating Cooling System for Robotic Cardiac Injection Therapy to Improve Patient Safety and Surgeon Workflow.

Journal of medical devices·2026
Same author

Development of a Flexible Parallel Wire Robot for Epicardial Interventions.

The international journal of medical robotics + computer assisted surgery : MRCAS·2026
Same author

Calibration and characterization of electromagnetic position and orientation trackers.

IEEE sensors journal·2025
Same author

Magnification-Invariant Retinal Distance Estimation for Vitreoretinal Surgery Using a Laser Aiming Beam.

The international journal of medical robotics + computer assisted surgery : MRCAS·2025

Related Experiment Video

Updated: Mar 19, 2026

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

7.2K

Parallel Force/Position Control of an Epicardial Parallel Wire Robot.

Adam D Costanza1, Macauley S Breault2, Nathan A Wood1

  • 1Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.

IEEE Robotics and Automation Letters
|June 15, 2016
PubMed
Summary
This summary is machine-generated.

A new robotic system offers precise, minimally invasive delivery for gene therapies targeting heart failure. This advanced control method improves injector positioning accuracy for better treatment outcomes.

Keywords:
Force controlmedical robotics and systemsorgan-mounted robotsparallel robots

More Related Videos

Bioinspired Soft Robot with Incorporated Microelectrodes
08:24

Bioinspired Soft Robot with Incorporated Microelectrodes

Published on: February 28, 2020

9.4K
Force and Position Control in Humans - The Role of Augmented Feedback
06:31

Force and Position Control in Humans - The Role of Augmented Feedback

Published on: June 19, 2016

8.3K

Related Experiment Videos

Last Updated: Mar 19, 2026

Operation of the Collaborative Composite Manufacturing CCM System
10:09

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

7.2K
Bioinspired Soft Robot with Incorporated Microelectrodes
08:24

Bioinspired Soft Robot with Incorporated Microelectrodes

Published on: February 28, 2020

9.4K
Force and Position Control in Humans - The Role of Augmented Feedback
06:31

Force and Position Control in Humans - The Role of Augmented Feedback

Published on: June 19, 2016

8.3K

Area of Science:

  • Biomedical Engineering
  • Robotics
  • Cardiovascular Research

Background:

  • Gene therapy holds promise for heart failure treatment but requires effective delivery methods.
  • Current minimally invasive techniques for epicardial interventions lack precision and uniformity.
  • Device nonidealities in robotic systems create complex control challenges.

Purpose of the Study:

  • To develop a minimally invasive parallel wire robot for uniform epicardial gene therapy delivery.
  • To implement a control scheme that accounts for device nonidealities for accurate interventions.
  • To demonstrate superior positioning control compared to traditional methods.

Main Methods:

  • Development of a novel parallel wire robotic system for epicardial interventions.
  • Mathematical modeling and solving of nonlinear, underconstrained static equations.
  • Implementation of a parallel control scheme incorporating force and position data.
  • Comparison of the parallel control scheme against a position-only controller.

Main Results:

  • The developed robot enables minimally invasive epicardial interventions.
  • The control scheme effectively addresses nonlinear and underconstrained statics.
  • The parallel control scheme demonstrated superior positioning accuracy.
  • The system shows potential for uniform gene therapy delivery.

Conclusions:

  • The minimally invasive parallel wire robot is a viable solution for epicardial interventions.
  • Advanced control strategies are crucial for precise robotic surgery in cardiology.
  • This technology can enhance the efficacy of gene therapies for heart failure.