Abstract
Contact force quality is one of the most critical factors for safe and effective lesion formation during cardiac ablation. The contact force and contact stability plays important roles in determining the lesion size and creating a gap-free lesion. In this paper, the contact stability of a novel magnetic resonance imaging (MRI)-actuated robotic catheter under tissue surface motion is studied. The robotic catheter is modeled using a pseudo-rigid-body model, and the contact model under surface constraint is provided. Two contact force control schemes to improve the contact stability of the catheter under heart surface motions are proposed and their performance are evaluated in simulation.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
