ArticleScientific reports2025
Landing control of a magnetically actuated robotic catheter on beating heart surface.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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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.
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2 authors.
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Abstract
In this paper, the problem of a magnetically actuated robotic catheter landing on a beating heart surface for the robotic catheter ablation procedure is addressed. A landing control strategy that optimizes the catheter tip trajectories, leading to a stable tip-tissue contact and a safe ablation force level for a successful catheter ablation procedure is proposed. Specifically, an ablation phase analysis is presented that investigates the optimal catheter tip configuration and the timing of the landing, preparing for a stable and safe ablation force throughout the ablation phase. A reference trajectory generation algorithm and a decoupled landing control optimization are then proposed for respectively generating a series of desired tip trajectories and achieving the optimal tip configurations in a desired landing period. The simulation results using in vivo heart motion data are presented to demonstrate the feasibility and effectiveness of the proposed methods.
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