A Master‐Follower Teleoperation System for Robotic Catheterisation: Design, Characterisation and Tracking Control
While the system meets precision and accuracy targets with an open-loop controller, closed-loop control is needed to address catheter hysteresis, dead zones and nonlinearities.
Authors
- Amir Jalali (ORCID: https://orcid.org/0000-0002-0307-879X)
- Farrokh Janabi‐Sharifi (ORCID: https://orcid.org/0000-0002-0314-0688)
- Kourosh Zareinia (ORCID: https://orcid.org/0000-0002-0603-9200)
- Houman Masnavi (ORCID: https://orcid.org/0000-0003-2140-9641)
- Ali Nazari (ORCID: https://orcid.org/0000-0001-6087-4971)
- Saeed Sadeghian (ORCID: https://orcid.org/0000-0001-6817-1904)
- Jeremy Catania
Institutions
- Toronto Metropolitan University (CA)
Publication Details
- Journal
- International Journal of Medical Robotics and Computer Assisted Surgery
- Published
- 2025-05-07
- DOI
- https://doi.org/10.1002/rcs.70073
- Primary Topic
- Teleoperation and Haptic Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Natural Sciences and Engineering Research Council of Canada