Rashed Karim — accepted AI-conference papers

2016

New kinematic multi-section model for catheter contact force estimation and steering

Junghwan Back, Lukas Lindenroth, Rashed Karim, Kaspar Althoefer, Kawal Rhode, Hongbin Liu

IROS 2016poster

Contact force play is a significant role in success of the cardiac ablation. However, it is still challenging to estimate contact force when a catheter is under large bending and multiple contacts. This paper develops a new multi-section static model of the tendon-driven catheters for both real-time…

Cited by 38 Source ↗Scholar ↗

2015

Catheter contact force estimation from shape detection using a real-time Cosserat rod model

Junghwan Back, Thomas Manwell, Rashed Karim, Kawal Rhode, Kaspar Althoefer, Hongbin Liu

IROS 2015poster

This paper proposes a novel Cosserat rod model based method to estimate contact forces based on the shape analysis of the catheter. We simplify the original Cosserat rod model to achieve real-time estimation of the force magnitude and directions applied to the catheter tip. The simplified model cont…

Cited by 58 Source ↗Scholar ↗