Fast and Stable Guidewire Simulator for Minimally Invasive Vascular Surgery
Gao, Zhanjie; Xie, Xiaoliang; Bian, Guibin; Hao, Jianlong; Feng, Zhenqiu; Hou, Zengguang; Hou ZG(侯增广)
2015-08
会议名称IEEE Engineering in Medicine and Biology Society
会议录名称IEEE Engineering in Medicine and Biology Society
会议日期2015-8
会议地点意大利,米兰
摘要
In recent years, minimally invasive vascular surgery is widely applied in treatment of cardiovascular diseases, and the manipulation of the guidewire is the essential skill for this surgery. Lots of time and money have to be taken to achieve the skill. In this paper, we present a multithreading guidewire simulator which can help the apprentice to gain the skill and modeling the guidewire is the core technique of the simulator. The guidewire is modeled by a fast and stable method based on the Cosserat theory of elastic rods. The method describes the behavior of the guidewire with the Lagrange equations of motion and it uses the penalty method to maintain constraints. We further propose a simplified solving procedure for the guidewire model. Finally, some experiments are conducted to evaluate the effectiveness of this model.
关键词Guidewire Simulator Cosserat Theory Of Elastic Rods
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/11675
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Hou ZG(侯增广)
作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Gao, Zhanjie,Xie, Xiaoliang,Bian, Guibin,et al. Fast and Stable Guidewire Simulator for Minimally Invasive Vascular Surgery[C],2015.
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