A robotics-assisted catheter manipulation system for cardiac ablation with real-time force estimation.
Mahta KhoshnamIman KhalajiRajni V. PatelPublished in: IROS (2015)
Keyphrases
- left atrium
- real time
- beating heart
- haptic feedback
- model based segmentation
- intraoperative
- atrial fibrillation
- visual feedback
- manipulation tasks
- artificial intelligence
- vision system
- image guidance
- pulmonary veins
- respiratory motion
- computer vision
- computer assisted
- force feedback
- patient specific
- motion compensation