Force Control With a Novel Robotic Catheterization System Based on Braided Sleeve Grippers KU Leuven
The complex, deformable, and dynamic cardiovascular system makes precise control of flexible medical instruments a challenging task. An innovative robot-assisted catheterization system (RACS) based on braided sleeves was thus developed to aid interventionalists during cardiovascular procedures. The RACS allows navigating instruments through the vasculature with continuous uninterrupted motion. The complete design and characterization of the ...