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cs.RO2023
MR-conditional Robotic Actuation of Concentric Tendon-Driven Cardiac Catheters
Yifan Wang, Zheng Qiu, Junichi Tokuda +3
Atrial fibrillation (AF) and ventricular tachycardia (VT) are two of the sustained arrhythmias that significantly affect the quality of life of patients. Treatment of AF and VT oft…
cs.RO2023
Kinetostatic Path Planning for Continuum Robots By Sampling on Implicit Manifold
Yifan Wang, Yue Chen
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environ…