Analytical Tip Force Estimation on Tendon-driven Catheters Through Inverse Solution of Cosserat Rod Model
Amir Hooshiar,Amir Sayadi,Mohammad Jolaei,Javad Dargahi,Amir Hooshiar,Amir Sayadi,Mohammad Jolaei,Javad Dargahi
Tip force estimation on continuum arms is of crucial clinical importance for catheter-based procedures, i.e., catheter-based ablation therapies. In this study, an analytical solution for force estimation based on inverse Cosserat rod modeling was proposed and validated. Initially, a previously validated Bezier-based shape interpolation was used to parameterize the deformation and the kinematics an...
