Knowledge Commons of Institute of Automation,CAS
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 | 复杂系统认知与决策实验室_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 |
第一作者单位 | 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. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
15030411.pdf(2632KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论