A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots.
Mostafa SayahkarajyHartmut Witte
Published in: Biomedizinische Technik. Biomedical engineering (2024)
It is concluded that the soft solution can perform the required task as the reachable points of the TEE tip cover the proposed robot workspace and the proposed control can be used for maneuvering in arbitrary trajectories.