Probabilistic Kinematic Model of a Robotic Catheter for 3D Position Control

Continuum robots offer compliant and dexterous operations, which are suitable to be used in unstructured environments. Tendon-driven catheters, owing to their continuum structure, are applied in minimal invasive surgeries such as intracardiac interventions. However, due to the intrinsic nonlineariti...

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Veröffentlicht in:	Soft robotics 2019-04, Vol.6 (2), p.184-194
Hauptverfasser:	Yu, Bingbin, Fernández, José de Gea, Tan, Tao
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Catheters Equipment Design - methods Humans Imaging, Three-Dimensional - methods Minimally Invasive Surgical Procedures - methods Models, Statistical Normal Distribution Original Articles Phantoms, Imaging Robotic Surgical Procedures - methods Robotics - methods
Online-Zugang:	Volltext
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