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. 2017 Feb 1;36(2):193–209. doi: 10.1177/0278364917691113

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© The Author(s) 2017

This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (http://www.creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (https://us.sagepub.com/en-us/nam/open-access-at-sage).

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Fig. 8. — The experimental setup used to control the robotically actuated delivery sheath (RADS) using a model-predictive control strategy. ① RADS. ② Container filled with water in which the RADS is inserted. ③ Ultrasound transducer. ④ Ultrasound image with a radial cross-sectional view of the RADS. ⑤ Motors and corresponding electronics used to control the articulating tip of the RADS. ⑥ Translation along the longitudinal axis of the RADS in order to position the tip in the two-dimensional ultrasound image plane. The top inset shows the flexible segment (articulating tip) of the RADS, which uses a hinged tube construction. The bottom inset depicts a longitudinal cross-section with dimensions of the RADS. An antagonistic configuration of a pair of tension wires (red) is actuated by a pulley-driven system. Each pair of tension wires (total of two pairs) is guided through the flexible shaft and through two incompressible brass tubes (yellow) to actuate a single degree of freedom of the articulating tip.