Table 2 Mean and variance of the positional errors of the 100 sampled tip configurations using the inverse Jacobian landing control under the regular heart rate POI motions, the arrhythmia motions, and the varying heart rate motions.
From: Landing control of a magnetically actuated robotic catheter on beating heart surface
\(||{\tilde{p}}(T)-p(T)||\) | ||
|---|---|---|
Metrics | Mean [mm] | Variance |
Regular Heart Rate 1 | 2.1 | 2.7 |
Regular Heart Rate 2 | 5.0 | 3.3 |
Arrhythmia | 7.9 | 0.9 |
Varying Heart Rate | 6.1 | 1.8 |
