Wu, D. (author), Zhang, Yao (author), Ourak, Mouloud (author), Ha, Xuan Thao (author), Niu, Kenan (author), Dankelman, J. (author), Poorten, Emmanuel Vander (author) Precise control of robotic catheters remains challenging in interventions. Inherent non-linearities such as hysteresis and external disturbances such as blood flow or contact with the vessel walls have a large impact on the reachable positioning precision. As inaccurate positioning of the catheter tip could lead to tissue damage, controllers...
conference paper 2022