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
会议名称International Conference on Information Science and Technology
会议日期 APR 16-19, 2017
会议地点DaNang
会议举办国Vienam
摘要The 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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23128
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
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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