Murat Cenk Cavusoglu

2 accepted papers

2019

Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

Tipakorn Greigarn, Nate Lombard Poirot, Xinyang Xu, Murat Cenk Cavusoglu

RA-L 2019

Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer the end- effector of the MRI-actuated robot along desired t

Cited by 38 Source ↗Scholar ↗

2016

Catadioptric stereo tracking for three dimensional shape measurement of MRI guided catheters

Russell C. Jackson, Taoming Liu, Murat Cenk Cavusoglu

ICRA 2016

The recent introduction of Magnetic Resonance Imaging (MRI)-actuated steerable catheters lays the ground work for increasing the efficacy of cardiac catheter procedures. The MRI, while capable of imaging the catheter for tracking and control, does not fulfill all of the needs required to identify an

Cited by 10 Source ↗Scholar ↗