Evidence map›Paper›PMID 38784715›Full record

ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2023

Analytical Computation of the Contact Force Jacobian for MRI-Actuated Robotic Catheter.

Yuttana Itsarachaiyot, Ran Hao, M Cenk Çavuşoğlu

Abstract read
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In one paragraph

Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

3 authors.

Yuttana ItsarachaiyotDepartment of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH.
Ran HaoDepartment of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH.
M Cenk ÇavuşoğluDepartment of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH.

Funding

Magnetic Resonance Imaging Guided Robotic Catheter System for Left Atrial Appendage Occlusion ProceduresR01HL163991 · NHLBI · CASE WESTERN RESERVE UNIVERSITY · PI BEZERRA, HIRAM, CAVUSOGLU, M. CENK · 2022 to 2025
$3.7M
Real-Time MRI Guided Robotic Catheter System for Atrial Fibrillation AblationR01HL153034 · NHLBI · CASE WESTERN RESERVE UNIVERSITY · PI CAVUSOGLU, M. CENK, GRISWOLD, MARK · 2020 to 2023
$2.7M
NHLBI NIH HHS R01 HL153034NHLBI NIH HHS R01 HL163991
6 · The paper itself

Abstract

Contact force Jacobian relates the changes in the contact force to the changes in the actuation of a robotic catheter in contact with a surface. In this paper, we present an analytical method for calculating the contact force Jacobian for the Cosserat rod model of an MRI-actuated robotic catheter. First, the Cosserat rod model of the MRI-actuated robotic catheter under tip contact position constraint is introduced. For the analytical derivation of contact force Jacobian, the initial value problem parameter derivatives are defined and calculated analytically. Finally, simulation results show that the presented analytical method calculates the contact force Jacobian in significantly shorter computation time with comparable accuracy, compared to direct numerical computation.

Identifiers

PMID38784715
PMCPMC11110647

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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.