Table 5 The variation of the heart motions in x, y, and z directions.
From: Landing control of a magnetically actuated robotic catheter on beating heart surface
X[mm] | Y[mm] | Z[mm] | |
|---|---|---|---|
Top POI Motion | 11.5 | 5.3 | 5.7 |
Side POI Motion | 18.4 | 8.9 | 1.2 |
Varying Heart Rate Motion | 1.7 | 3.0 | 0.2 |
Arrhythmia Motion | 3.8 | 2.37 | 0.7 |
