Fast and Stable Guidewire Simulator for Minimally Invasive Vascular Surgery | |
Gao, Zhanjie![]() ![]() ![]() ![]() ![]() ![]() | |
2015-08 | |
会议名称 | IEEE Engineering in Medicine and Biology Society |
会议日期 | 2015-8 |
会议地点 | 意大利,米兰 |
关键词 | Guidewire Simulator Cosserat theory of elastic rods |
通讯作者 | 侯增广 |
英文摘要 |
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. |
会议录 | IEEE Engineering in Medicine and Biology Society
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内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/11675] ![]() |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
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]. 见:IEEE Engineering in Medicine and Biology Society. 意大利,米兰. 2015-8. |
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