Calibration of the Pseudo-rigid-body Model for a Multi-section Magnetic Catheter Robot

Magnetic catheter robot has a great potential for micromanipulation during medical operations that requires a submillimeter catheter. However, during the operation, it requires an accurate and fast model to perform the control task. Herein, we introduce a calibration method of the pseudo-rigid-body (PRB) model for a multi-section magnetic catheter robot. The robot can deform in a high-order curve with a variable length, and the calibrated model can estimate the dexterous deformation of a prototype with a mean tip position error of 1.19 ± 0.76 mm. This calibrated PRB model can help the catheter robot to execute inverse control tasks for automated operation in further works.