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

Yuttana Itsarachaiyot, Ran Hao, Murat Cenk Çavusoglu. Analytical Computation of the Contact Force Jacobian for MRI-Actuated Robotic Catheter. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 10268-10274, IEEE, 2023. [doi]

Abstract

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