Table 4 Simulation results of the Landing Control Optimization.
From: Landing control of a magnetically actuated robotic catheter on beating heart surface
\(\mathbf {T'}\) [s] | \(\mathbf {||{\tilde{p}}(T')-p(T')||}\) [mm] | \(\mathbf {\alpha _d}\) \(^\circ\) | \(\mathbf {f_n}\) [N] | \(\mathbf {\sigma }\) | |
|---|---|---|---|---|---|
Top POI Motion | 1.1 | 1.7 | 2.1 | 0.17 | 0.10 |
Side POI Motion | 1.1 | 4.1 | 0.1 | 0.16 | 0.19 |
Varying Heart Rate Motion | 1.1 | 2.2 | 1.8 | 0.14 | 0.11 |
Arrhythmia Motion | 1.7 | 2.5 | 6.5 | 0.16 | 0.06 |
