Fig. 1
From: Landing control of a magnetically actuated robotic catheter on beating heart surface
The two phases of the catheter ablation problem for the robotic catheter ablation procedure: a free landing phase and an ablation phase. S denotes the spatial frame of the robotic catheter. \(P_i\) denotes the instantaneous contact point established between the catheter tip and the tissue surface at time \(t_i\), where \(P_1\) denotes the “touchdown” motion point.
