Kinematic Modeling of Magnetically-Actuated Robotic Catheter in Nonlinearly-Coupled Multi-Field - Wang, Jiaole; Xue, Junnan; Yuan, Sishen; Tan, Jiewen; Song, Shuang; Meng, Max Q.-H. (IEEE robotics and automation letters, 2021)
Keywords: Algorithms; Catheters; Cosserat rod model; coupled multi-field; Gravity; kinematic modeling; Kinematics; magnetic catheter; Magnetoelasticity; Permanent magnets; Potential energy; Robotic surgery; Robots; Shape