Research Paper#Medical Robotics, MRI, Kinematics, Jacobian, Catheter Control🔬 ResearchAnalyzed: Jan 3, 2026 19:15
Real-Time Kinematics for MRI-Guided Robotic Catheter Control
Analysis
This paper addresses a critical challenge in medical robotics: real-time control of a catheter within an MRI environment. The development of forward kinematics and Jacobian calculations is crucial for accurate and responsive control, enabling complex maneuvers within the body. The use of static Cosserat-rod theory and analytical Jacobian computation, validated through experiments, suggests a practical and efficient approach. The potential for closed-loop control with MRI feedback is a significant advancement.
Key Takeaways
- •Presents a real-time forward kinematics and Jacobian computation approach.
- •Applies static Cosserat-rod theory for modeling.
- •Validated experimentally using a robotic catheter prototype.
- •Achieves real-time computational efficiency for open-loop control.
- •Lays the groundwork for closed-loop control with MRI feedback.
Reference
“The paper demonstrates the ability to control the catheter in an open loop to perform complex trajectories with real-time computational efficiency, paving the way for accurate closed-loop control.”