Yuttana Itsarachaiyot

Analytical Computation of the Contact Force Jacobian for MRI-Actuated Robotic Catheter

Contact force Jacobian relates the changes in the contact force to the changes in the actuation of a robotic catheter in contact with a surface. In this paper, we present an analytical method for calculating the contact force Jacobian for the Cosserat rod model of an MRI-actuated robotic catheter. F…