Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances
Ran Hao,Nate Lombard Poirot,M. Cenk Çavuşoğlu,Ran Hao,Nate Lombard Poirot,M. Cenk Çavuşoğlu
This paper studies the contact stability and contact safety of a robotic intravascular cardiac catheter under blood flow disturbances while in contact with tissue surface. A probabilistic blood flow disturbance model, where the blood flow drag forces on the catheter body are approximated using a quasi-static model, is introduced. Using this blood flow disturbance model, probabilistic contact stabi...
