CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Conference NameIEEE Engineering in Medicine and Biology Society
Source PublicationIEEE Engineering in Medicine and Biology Society
Conference Date2015-8
Conference Place意大利,米兰
Abstract
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.
KeywordGuidewire Simulator Cosserat Theory Of Elastic Rods
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11675
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHou ZG(侯增广)
Affiliation中国科学院自动化研究所
Recommended Citation
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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