Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention.

Zhengyang Li Junan Li Zehao Wu Yuanhe Chen Magejiang Yeerbulati Qingsong Xu 0002 Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention. 2306-2326 2024 40 IEEE Trans. Robotics https://doi.org/10.1109/TRO.2024.3378442 db/journals/trob/trob40.html#LiLWCYX24