An Efficient Static Model for Steerablè Catheters

This paper presents a novel method for computationally efficient static analysis of steerable catheters. An accurate, low-dimensional model of catheter is important to precisely describe the configuration of the catheter considering surrounding forces for real-time control purposes. In this method, a catheter is considered as a planar continuum robot. Its backbone curve is modeled by two circular connected isometric curves that are tangent at their connection point. Static equations are derived for the composite curve using the energy approach. Accuracy and computational efficiency of the proposed method is compared with the elastica approach for different applied load scenarios. Viability of the proposed method is experimentally verified for a cardiac ablation catheter.