Robotic catheter cardiac ablation combining ultrasound guidance and force control.
Samuel B. KesnerRobert D. HowePublished in: Int. J. Robotics Res. (2014)
Keyphrases
- left atrium
- force control
- pulmonary veins
- intraoperative
- intra operatively
- model based segmentation
- atrial fibrillation
- robot manipulators
- position control
- contact force
- ultrasound images
- x ray
- control strategy
- robotic systems
- pre operative
- beating heart
- real time
- closed loop
- respiratory motion
- computer assisted
- control architecture
- image guided
- patient specific
- ct data
- robotic arm
- control structure
- minimally invasive
- control system
- neural network