Universal Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization.
Weizhao WangZicong WuCarlo SaijaAya Mutaz ZeidanZhouyang XuAryana PishkahiTiffany PattersonSimon RedwoodShuangyi WangKawal S. RhodeRichard James HousdenPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- beating heart
- kinematic model
- mechanical systems
- motion control
- motion compensation
- minimally invasive
- motion planning
- magnetic resonance imaging
- mathematical model
- degrees of freedom
- state estimation
- control algorithm
- control system
- left atrium
- intraoperative
- aortic valve implantation
- patient specific
- visual tracking
- medical images
- motion estimation
- mobile robot
- real time