Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction
Steerable catheters are the primary tool for cardiac electrophysiology (EP) procedures including radiofrequency ablation, where the tip must be positioned precisely at target tissue while maintaining controlled, stable contact. The central control problem is therefore not merely tip tracking and not merely force regulation; it is the regulation of \emph{catheter--tissue interaction dynamics}. The interaction state must encode how the tip moves relative to tissue, how persistent friction and contact forces bias that motion, and how safety limits reshape what motion is physically allowable. Existing methods regulate these interaction dynamics through different mechanisms. Classical impedanc...
| Authors | Yongyan Cao |
|---|---|
| Primary category | eess.SY |
| Published | 23 July 2026 |
| Last updated at source | 28 September 2026 |
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