CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers
Xiaoran Cheng; Qingkun Song; Xiaoliang Xie; Long Cheng; Li Wang; Guibin Bian; Zeng-Guang Hou; Tingwen Huang; Pusit Prasong
2017
Conference NameInternational Conference on Information Science and Technology
Conference Date APR 16-19, 2017
Conference PlaceDaNang
CountryVienam
AbstractThe simulator based on interactive virtual reality can solve many drawbacks in traditional surgery training, and it is widely used to train apprentices. A real-time and realistic guidewire model is a challenging task for the simulator, which is used to simulate minimally invasive vascular surgery. In this paper, we propose a fast and stable physical model to simulate the behavior of the guidewire. And Cosserat theory of elastic rods is used to simulate the bending and twisting of the guidewire, the inextensibility of which is maintained with Lagrange multipliers. Then an operation method is proposed to control the virtual guidewire effectively. Finally, some experiments are conducted to demonstrate the effectiveness of our guidewire model and the operation method.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23128
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Xiaoran Cheng,Qingkun Song,Xiaoliang Xie,et al. A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers[C],2017.
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