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Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention.

Zhengyang LiJunan LiZehao WuYuanhe ChenMagejiang YeerbulatiQingsong Xu
Published in: IEEE Trans. Robotics (2024)
Keyphrases
  • case study
  • control system
  • real time
  • robotic systems
  • robot control
  • user interface
  • mobile robot
  • x ray
  • design process
  • ultrasound images
  • control method
  • robotic arm
  • robotic manipulator
  • impedance control