Motion Compensation of Cardiac Catheters: Steering and Control

Advanced navigation of steerable flexible manipulators can enable a wider range of surgical procedures and interventions to be done less invasively. The techniques described here were designed for applications in cardiac catheterization, but can also be applied to other body systems. I present an investigation into orientation and positioning navigation of ultrasound imaging catheters, friction analysis for active stiffness changing, and catheter bracing solutions for left atrial interventions.