Fig. 7.

Model-predictive control (MPC) strategy is used to steer the robotically actuated delivery sheath (RADS). The referenced tip position by the clinician is denoted by ${\mathbf{r}}_d$, while ${\mathbf{r}}_{\mathrm{AHV}}$ describes the position of the aortic heart valve with a priori knowledge obtained from pre-operative ultrasound images. The tip position obtained by ultrasound image segmentation is denoted by $\mathbf{y}$, with corresponding filtered position described by $\hat{\mathbf{y}}$. The arc parameters denoted by $\mathbf{a}$ is provided as an input to the RADS and the Kalman filter. The resulting positioning error is given by ${\mathbf{e}}_{\mathrm{rr}}$, which is used to adapt the Kalman filter.