4 papers
Closed-Form Pose Estimation of Endoluminal Medical Devices via Gradiometer-Based Electromagnetic Localization System
Zhiwei Wu, Jiahao Luo, Yubo Pu +3
Embedded magnetic tracking holds highly attractive prospects for remote navigation of endoluminal medical devices. However, existing six-degree-of-freedom pose recovery approaches…
Enhancing Kinematic Performances of Soft Continuum Robots for Magnetic Actuation
Zhiwei Wu, Jiahao Luo, Siyi Wei +1
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics.…
Topology-Inspired Morphological Descriptor for Soft Continuum Robots
Zhiwei Wu, Siyi Wei, Jiahao Luo +1
This paper presents a topology-inspired morphological descriptor for soft continuum robots by combining a pseudo-rigid-body (PRB) model with Morse theory to achieve a quantitative…
Closed-Loop Magnetic Control of Medical Soft Continuum Robots for Deflection
Zhiwei Wu, Jinhui Zhang
Magnetic soft continuum robots (MSCRs) have emerged as powerful devices in endovascular interventions owing to their hyperelastic fibre matrix and enhanced magnetic manipulability.…