Contact Stability Analysis of Magnetically-Actuated Robotic Catheter Under Surface Motion
Ran Hao,Tipakorn Greigarn,M. Cenk Çavuşoğlu,Ran Hao,Tipakorn Greigarn,M. Cenk Çavuşoğlu
Contact force quality is one of the most critical factors for safe and effective lesion formation during cardiac ablation. The contact force and contact stability plays important roles in determining the lesion size and creating a gap-free lesion. In this paper, the contact stability of a novel magnetic resonance imaging (MRI)-actuated robotic catheter under tissue surface motion is studied. The r...
