arxiveess.SYcs.AIcs.RO2026-07-23
Interaction Dynamics Modeling and Predictive Control for Safe Steerable Catheter--Tissue Interaction
Safe steerable catheter control is fundamentally a problem of interaction dynamics: the tip must follow a planned motion, remain compliant against moving tissue, reject friction and hysteresis, and respect a clinically meaningful never-exceed contact-force bound. We formulate cat…