Model-Free Position Control for Cardiac Ablation Catheter Steering Using Electromagnetic Position Tracking and Tension Feedback.
Junghwan BackLukas LindenrothKawal S. RhodeHongbin LiuPublished in: Frontiers Robotics AI (2017)
Keyphrases
- position tracking
- position control
- left atrium
- model free
- impedance control
- feedback loop
- model based segmentation
- force control
- control scheme
- robotic manipulator
- reinforcement learning
- closed loop
- intraoperative
- control strategies
- control system
- visual servoing
- function approximation
- robot arm
- end effector
- dc motor
- pre operative
- degrees of freedom
- steady state
- robot manipulators
- experimental data
- pid controller
- visual feedback
- neural network