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Related Concept Videos

PD Controller: Design01:26

PD Controller: Design

384
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,...
384

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Related Experiment Video

Updated: Oct 11, 2025

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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Bayesian Optimization for Design of Multi-Actuator Soft Catheter Robots.

Seyede Fatemeh Ghoreishi1, Ryan D Sochol2, Dheeraj Gandhi3

  • 1Institute for Systems Research, University of Maryland, College Park, MD 20742 USA.

IEEE Transactions on Medical Robotics and Bionics
|November 29, 2021
PubMed
Summary

This study introduces a new method for designing soft catheter robots, enabling precise alignment with complex vessel shapes for minimally invasive procedures. The advanced modeling framework optimizes catheter properties, improving robotic-assisted medical interventions.

Keywords:
Bi-Level OptimizationDesignSoft Catheter Robots

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Area of Science:

  • Medical Robotics
  • Biomedical Engineering
  • Soft Robotics

Background:

  • Catheter-based interventions offer improved clinical outcomes over open surgery.
  • Designing soft catheter robots is challenging due to their continuum nature and complex behavior prediction.
  • Current design techniques for soft catheter robots are limited.

Purpose of the Study:

  • To propose a modeling framework for multi-actuator soft catheters.
  • To enable precise alignment of catheters with desired vessel shapes for targeted medical procedures.
  • To optimize the design of soft catheter robots for enhanced performance.

Main Methods:

  • Developed mathematical models to simulate catheter positioning using pneumatic actuators.
  • Employed a bi-level optimization framework to determine optimal geometric and material properties.
  • Utilized a modified Bayesian optimization (upper-level) and gradient-based optimization (lower-level).

Main Results:

  • Demonstrated the capability of the multi-actuator soft catheter to align with target vessel shapes.
  • The proposed bi-level optimization framework effectively identified optimal catheter properties.
  • Bayesian optimization framework shows potential to accelerate the design process for soft catheter robots.

Conclusions:

  • The developed modeling and optimization framework enables effective design of multi-actuator soft catheters.
  • This approach facilitates precise catheter alignment in complex anatomical structures.
  • The study highlights the potential of advanced optimization techniques in advancing medical robotics.