Deep-Learning-Based Compliant Motion Control of a Pneumatically-Driven Robotic Catheter

In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm...

Hysteresis Modeling of Robotic Catheters based on Long Short-Term Memory Network for Improved Environment Reconstruction

Catheters are increasingly being used to tackle problems in the cardiovascular system. However, positioning precision of the catheter tip is negatively affected by hysteresis. To ensure tissue damage due to imprecise positioning is avoided, hysteresis is to be understood and compensated for. This work investigates the feasibility to model...

A novel design and manufacturing method for compliant bistable structure with dissipated energy feature

In this paper, a novel design concept and manufacturing method for the compliant bistable structure is proposed. The pulsed laser technique is utilized as the manufacturing method for both the fabrication and the introduction of desired pre-stresses, simultaneously. Based on this concept, a novel bistable structure consisted of one pre...