@inproceedings{e8559e33fbf64a929d0bf6a5c54a916d,
title = "Towards kinematic modeling of a multi-DOF tendon driven robotic catheter",
abstract = "This paper presents a recent study on kinematic modeling of a remote-controlled active catheter. The tip steering motion of the catheter is actuated in a tendon-driven manner. Two antagonistic groups of tendon actuation realize the distal tip deflecting with two-degree-of-freedom (2-DOF) allowing it to reach a considerable large spatial workspace without catheter shaft rotation. However, when modeling such bending deformation, the sequential rotation approach is easily misapplied. We address this problem and introduce a novel and unified modeling methodology based on the concept of simultaneous rotation and the use of Rodrigues' rotation formula. An accurate model is created for robotic catheters and also can be generalized to common multi-tendon-driven continuum manipulators. It is essential in achieving accurate control and improving autonomous execution of command tracking tasks.",
author = "Peng Qi and Hongbin Liu and Lakmal Seneviratne and Kaspar Althoefer",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014 ; Conference date: 26-08-2014 Through 30-08-2014",
year = "2014",
month = nov,
day = "2",
doi = "10.1109/EMBC.2014.6944256",
language = "British English",
series = "2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3009--3012",
booktitle = "2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014",
address = "United States",
}