Experimental validation of the pseudo-rigid-body model of the MRI-actuated catheter
Tipakorn Greigarn, Russell Jackson, Taoming Liu, M. Cenk Çavuşoğlu
Abstract
An MRI-actuated catheter is a novel robotic catheter system that utilizes the MRI for both remote steering and visualization for catheter ablation of atrial fibrillation. Planning and control of the catheter requires a sufficiently fast yet accurate model of the catheter. The pseudo-rigid-body (PRB) model offers a reasonable trade-off between speed and accuracy by approximating the continuum catheter as rigid links connected by flexible joints, thus reducing the infinite degrees of freedom of the continuum mechanism to a finite one. In this paper, a PRB model of the MRI-actuated catheter is validated experimentally by comparing the deflections of the PRB model with the deflections of the catheter prototype.
BibTeX
@inproceedings{icra2017_experimentalvali,
title = {Experimental validation of the pseudo-rigid-body model of the MRI-actuated catheter},
author = {Tipakorn Greigarn and Russell Jackson and Taoming Liu and M. Cenk Çavuşoğlu},
booktitle = {ICRA 2017},
year = {2017}
}