ArticleIEEE robotics and automation letters2019
Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.
Article in IEEE robotics and automation letters, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed.
- Landing control of a magnetically actuated robotic catheter on beating heart surface.Scientific reports · 2025Article
- Free-Space Dynamic Modeling of an MRI-Actuated Robotic Catheter.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2025Article
- Obstacle-Avoidance Planning in C-Space for Continuum Manipulator Based on IRRT-Connect.Sensors (Basel, Switzerland) · 2025Article
- Path tracking control of a steerable catheter in transcatheter cardiology interventions.International journal of computer assisted radiology and surgery · 2024Article
- A Survey on Design, Actuation, Modeling, and Control of Continuum Robot.Cyborg and bionic systems (Washington, D.C.) · 2022Review
- A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter.Journal of dynamic systems, measurement, and control · 2021Article
- Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion.Journal of dynamic systems, measurement, and control · 2021Article
- On the Mathematical Modeling of Slender Biomedical Continuum Robots.Frontiers in robotics and AI · 2021Article
- Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2020Article
- Contact Stability Analysis of Magnetically-Actuated Robotic Catheter Under Surface Motion.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer the end- effector of the MRI-actuated robot along desired trajectories on the surface. The continuum robot is modeled using the pseudo-rigid-body model, where the continuum body of the robot is approximated by rigid links joined by flexible joints. The quasistatic motion model of the robot is formulated as a potential energy minimization problem. The Jacobian of the quasistatic motion model is used in calculating the actuations that steer the tip in the desired directions. The proposed method is validated experimentally in a clinical 3-T MRI scanner.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.