A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots.
Journal:
Biomedizinische Technik. Biomedical engineering
PMID:
39026442
Abstract
OBJECTIVES: This research investigates designing a continuum soft robot and proposing a kinematic matching control to enable the robot to perform a specified medical task, which in this paper is the transesophageal echocardiography (TEE).