Figure 3: Measurement errors at different contact angles
Measurement errors of four commercially available contact force sensing
catheters across their measurement range. Each row shows the results for
different catheter models. Different catheter-to-tissue angles are
displayed in columns (0° equals perpendicular to tissue, 90° equals
parallel to tissue). The x-axis of each graph shows the real force
exerted on the tissue and the y-axis the measurement error made by the
catheter. Points above the black line in each graph mean the catheter
overestimates the force and points below the black line mean the
catheter underestimates the force. Different colors indicate different
catheters. A local smoothing function was used for easier interpretation
of the measurement data (loess function, span = 0.3). For the
Stablepoint™ catheter, measured-force values above 50g
are not displayed at angles >45°.