Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System

This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip, by the mag...

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Detaylı Bibliyografya
Yayımlandı:IEEE ASME Trans Mechatron
Asıl Yazarlar: Liu, Taoming, Jackson, Russell, Franson, Dominique, Poirot, Nate Lombard, Criss, Reinhardt Kam, Seiberlich, Nicole, Griswold, Mark A., Çavuşoğlu, M. Cenk
Materyal Türü: Artigo
Dil:Inglês
Baskı/Yayın Bilgisi: 2017
Konular:
Article
Online Erişim:https://ncbi.nlm.nih.gov/pmc/articles/PMC5731790/
https://ncbi.nlm.nih.gov/pubmed/29255343
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/TMECH.2017.2704526
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