ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2025
Free-Space Dynamic Modeling of an MRI-Actuated Robotic Catheter.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Interleaved Imaging and Actuation for Real-Time MRI During Active Control of a Magnetically-Actuated Robotic Catheter.IEEE transactions on bio-medical engineering · 2026Article
- Landing control of a magnetically actuated robotic catheter on beating heart surface.Scientific reports · 2025Article
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Authors and funding
4 authors.
Funding
Abstract
This paper presents the free-space dynamic modeling of a novel magnetic resonance imaging (MRI)-actuated robotic catheter. The magnetic resonance imaging-actuated robotic catheter is modeled as a series of rigid and flexible segments, where the rigid segments are embedded with a set of current-carrying micro-coils. The robotic catheter is steered by controlling the currents passing through the actuators under the influence of the static magnetic field of the MRI-scanner. In this paper, two discrete-time dynamic models of the MRI-actuated robotic catheter are presented and evaluated. The first model presented is a full-body Cosserat-rod-based dynamic model based on the dynamic Cosserat-rod theory, where the dynamic Cosserat-rod partial differential equations (PDEs) and the Euler-Lagrange equation are respectively used to derive the dynamic equations of the flexible segments and rigid segments. The second model presented is a hybrid Cosserat-rod based dynamic model, where the dynamic equation of the rigid segments is derived using the Euler-Lagrange equation and the shape of the flexible segments is derived using the static Cosserat-rod theory. The proposed dynamic models are compared and experimentally validated using the 3D positional trajectories collected from a catadioptric stereo tracking system.
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