Robotic catheter cardiac ablation combining ultrasound guidance and force control

  title={Robotic catheter cardiac ablation combining ultrasound guidance and force control},
  author={Samuel B. Kesner and Robert D. Howe},
  journal={I. J. Robotics Res.},
Cardiac catheters allow physicians to access the inside of the heart and perform therapeutic interventions without stopping the heart or opening the chest. However, conventional manual and actuated cardiac catheters are currently unable to precisely track and manipulate the intracardiac tissue structures because of the fast tissue motion and potential for applying damaging forces. This paper addresses these challenges by proposing and implementing a robotic catheter system that use 3D… CONTINUE READING
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