A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery

Magnetic actuation is a versatiletechnology, widely applied in medical robotics for noncontact steering of flexible instruments and untethered agents. In this article, we exploit the benefits of this technology by developing a magnetically actuated flexible catheter capable of the controlled ejectio...

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Veröffentlicht in:	IEEE transactions on robotics 2022-06, Vol.38 (3), p.1959-1972
Hauptverfasser:	Sikorski, Jakub, Heunis, Christoff Marthinus, Obeid, Rafic, Venkiteswaran, Venkatasubramanian Kalpathy, Misra, Sarthak
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Catheters Dynamic models Magnetic Devices Magnetic moments medical robots and systems motion control Projectiles Retrieval Robotics Robots Shape Soft magnetic materials Steering surgical robotics: steerable catheters/needles Ultrasonic imaging
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