Fig. 5
From: Landing control of a magnetically actuated robotic catheter on beating heart surface
(a) The distance between the POI and origin of the spatial frame, i.e., the entry point of the catheter using the first POI heart motion data. The optimal touchdown period is marked in red lines. (b) Percentage of the number of the contact force samples that violate the desired normal force range \([\lambda _\textrm{min}, \ \lambda _\textrm{max}]\), averaged over the tangential rotation angles \(\beta _d\), for the first cycle of the first POI heart motion data. (c) Percentage of the number of contact force samples that violate the friction cone FC, averaged over the tangential rotation angles \(\beta _d\), for the first cycle of the second POI heart motion data. (d) The distance between the POI and the origin of the spatial frame using heart motion data of the second POI. The optimal touchdown periods are marked in red lines. (e) Percentage of the number of the contact force samples that violate the desired normal force range \([\lambda _\textrm{min}, \ \lambda _\textrm{max}]\), averaged over the tangential rotation angles \(\beta _d\), for the first cycle of the second POI heart motion data. (f) Percentage of the number of contact force samples that violate the friction cone FC, averaged over the tangential rotation angles \(\beta _d\), for the first cycle of the second POI heart motion data.
