Force control of flexible catheter robots for beating heart surgery

Recent developments in cardiac catheter technology promise to allow physicians to perform most cardiac interventions without stopping the heart or opening the chest. However, current cardiac devices, including newly developed catheter robots, are unable to accurately track and interact with the fast...

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Bibliographische Detailangaben

Veröffentlicht in:	2011 IEEE International Conference on Robotics and Automation 2011-01, p.1589-1594
Hauptverfasser:	Kesner, Samuel B., Howe, Robert D.
Format:	Artikel
Sprache:	eng
Schlagworte:	Catheters Force Force control Friction Robots Target tracking Trajectory
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