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

Yuttana Itsarachaiyot Ran Hao Murat Cenk Çavusoglu

Published in: IROS (2023)

Keyphrases

contact force
force control
finite element analysis
master slave
medical images
magnetic resonance imaging
mr images
robotic systems
robot manipulators
force feedback
beating heart
real time
mobile robot