Modeling of a Robotic Transcatheter Delivery System
Namrata U. Nayar,Ronghuai Qi,Jaydev P. Desai,Namrata U. Nayar,Ronghuai Qi,Jaydev P. Desai
Intracardiac transcatheter systems guided by advanced imaging modalities are gaining popularity in treating mitral regurgitation in non-surgical candidates. Robotically steerable transcatheter systems must use model-based control strategies to ensure safer and more effective transcatheter procedures with less trauma while using smaller control gains. In this paper, a 4-DoF robotically steerable te...
