{"doi":"10.1038/s41598-025-18054-2","title":"Landing control of a magnetically actuated robotic catheter on beating heart surface","abstract":"In this paper, the problem of a magnetically actuated robotic catheter landing on a beating heart surface for the robotic catheter ablation procedure is addressed. A landing control strategy that optimizes the catheter tip trajectories, leading to a stable tip-tissue contact and a safe ablation force level for a successful catheter ablation procedure is proposed. Specifically, an ablation phase analysis is presented that investigates the optimal catheter tip configuration and the timing of the landing, preparing for a stable and safe ablation force throughout the ablation phase. A reference trajectory generation algorithm and a decoupled landing control optimization are then proposed for respectively generating a series of desired tip trajectories and achieving the optimal tip configurations in a desired landing period. The simulation results using in vivo heart motion data are presented to demonstrate the feasibility and effectiveness of the proposed methods.","journal":"Scientific Reports","year":2025,"id":536809,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":1,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9581,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2025-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":323100,"name":"M. Cenk Çavuşoğlu","orcid":"0000-0003-2800-5922","position":1,"is_corresponding":false},{"id":323097,"name":"Ran Hao","orcid":"0000-0001-5281-8451","position":0,"is_corresponding":true}],"reference_count":29,"raw_metadata":null,"created_at":"2026-07-19T02:52:09.056872Z","pmid":"41044320","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}