Prior methods of patient care have changed in recent years due to the availability of
minimally invasive surgical platforms for endovascular interventions. These platforms have …

Cardiac diseases are recognized as the leading cause of mortality, hospitalization, and
medical prescription globally. The gold standard for the treatment of coronary artery stenosis …

Magnetorheological elastomer composites are a class of smart materials with controllable
deformation by an external magnetic field. Recent studies have shown the feasibility of using …

The goal of this study was to propose and validate a control framework with level-2
autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a …

Soft robots typically exhibit large deformation that makes integrating rigid sensors
cumbersome. Especially for soft surgical robots, direct sensor-based feedback is required. In …

Tip force estimation on continuum arms is of crucial clinical importance for catheter-based
procedures, ie, catheter-based ablation therapies. In this study, an analytical solution for …

The spatial orientation of rotating objects is typically measured by utilizing inertial
measurement units and requires temporal integration of angular velocities. The integration …

In the present study, a sensor-free force control framework for tendon-driven steerable
catheters was proposed and validated. The hypothesis of this study was that the contact …

Accurate deformation modeling of soft flexural robots is of high practical importance,
especially for high-risk tasks such as surgery. In this study, a new mechanistic model, that is …

Tip force estimation on tendon-driven catheters is of crucial clinical importance for catheter-
based surgeries such as radio-frequency ablation (RFA). In this study, a force estimation …