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Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters
This paper presents a kinematic study of a pseudorigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward...
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| Veröffentlicht in: | IEEE Int Conf Robot Autom |
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| Hauptverfasser: | , |
| Format: | Artigo |
| Sprache: | Inglês |
| Veröffentlicht: |
2015
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| Schlagworte: | |
| Online Zugang: | https://ncbi.nlm.nih.gov/pmc/articles/PMC4578324/ https://ncbi.nlm.nih.gov/pubmed/26413380 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/ICRA.2015.7139495 |
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