Fig. 6

(a)-(c) The configurations of the robotic catheter and the heart surface during the free landing process at \(t =\) 0, 0.5, 1.1 s. At \(t=\) 1.1 s, the catheter tip reached the touchdown motion point. (d) The robotic catheter is in contact with the surface during the ablation phase at \(t=\) 1.5 s, with normal contact force \(f_n =\) 0.20 N and contact ratio \(\sigma =\) 0.11. The friction cone FC and the contact force \(f_c\), marked by the red arrow, are also presented. (e) The robotic catheter at \(t=\) 3.1 s, with normal contact force \(f_n =\) 0.16 N and contact ratio \(\sigma =\) 0.09. (f) The robotic catheter at \(t=\) 4.1 s, with normal contact force \(f_n =\) 0.16 N and contact ratio \(\sigma =\) 0.08.