Task-space motion planning of MRI-actuated catheters for catheter ablation of atrial fibrillation.

Tipakorn Greigarn Murat Cenk Cavusoglu

Published in: IROS (2014)

Keyphrases

motion planning
atrial fibrillation
degrees of freedom
path planning
trajectory planning
mobile robot
configuration space
humanoid robot
medical images
magnetic resonance imaging
multi robot
ecg signals
computer vision
object detection
multi modal
control scheme