Control of Multi-Degree-of-Freedom Catheters in Unknown Environments

Abstract

Cardiovascular disease is currently one of the biggest threats to health. Specific types of cardiovascular disease include, but are not limited to, coronary artery disease, cardiac valve disorders, or peripheral arterial disease. The current gold standard for managing these conditions incorporates the use of catheters and guidewires for intravascular navigation. Following their insertion into the vascular system, these instruments facilitate a variety of procedures, such as stent placement, recanalization of vessel blockage, and radiofrequency ablation. Compared to more invasive open heart surgery, catheterization represents a minimally invasive approach. This offers several benefits, including smaller incisions, faster postoperative recovery, and improved aesthetic outcomes...