A Three-Dimensional Shape-Based Force and Stiffness-Sensing Platform for Tendon-Driven Catheters

A Three-Dimensional Shape-Based Force and Stiffness-Sensing Platform for Tendon-Driven Catheters

This paper presents an efficient shape-based three-axial force and stiffness estimator for active catheters commonly implemented in cardiac ablation. The force-sensing capability provides important feedback for catheterization procedures including real-time control and catheter steering in autonomou...

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Bibliographic Details
Main Authors: Minou Kouh Soltani, Sohrab Khanmohammadi, Farzan Ghalichi
Format: Article
Language:English
Published: MDPI AG 2016-06-01
Series:Sensors
Subjects:
catheters
force sensing
stiffness estimation
iterative
nonlinear Kalman filter
adaptive
Online Access:http://www.mdpi.com/1424-8220/16/7/990

Internet

http://www.mdpi.com/1424-8220/16/7/990

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