An Autonomous Fluoroscopic Imaging System for Catheter Insertions by Bilateral Control Scheme: A Numerical Simulation Study

An Autonomous Fluoroscopic Imaging System for Catheter Insertions by Bilateral Control Scheme: A Numerical Simulation Study

This study presents a bilateral control architecture that links fluoroscopic image feedback directly to the kinematics of a tendon-driven, three-joint robotic catheter and a 3-DoF motorised C-arm, intending to preserve optimal imaging geometry during autonomous catheter insertion and thereby mitigat...

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Bibliographic Details
Main Authors: Gregory Y. Ward, Dezhi Sun, Kenan Niu
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Machines
Subjects:
bilateral control
automated catheter insertion
surgical robotics
collaborative robotics
Online Access:https://www.mdpi.com/2075-1702/13/6/498
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https://www.mdpi.com/2075-1702/13/6/498

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