Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac Procedures on the Beating Heart
Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac Procedures on the Beating Heart
复制标题
跳动心脏腔内手术过程中柔性机械臂血流效应的动态模拟
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
N. Tsekos
中科院分区：
文献类型：
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作者：
A. Salimi;J. Mohammadpour;K. Grigoriadis;N. Tsekos
在本文中，我们开发了一个数值混合的柔性-刚体模型，考虑到外部干扰的影响，作用于一个灵活的机械手继发于振荡的跨膜血流在左心室。操纵器由柔性橡胶状材料制成，以进一步扩展基于外科机器人的导管在跳动心脏假体主动脉瓣植入手术中的自由度和转向能力。沿着开发的数值模型，还提供了导管的机械结构和致动系统的详细描述。采用这种模型的必要性设计系统是明确合理的使用模拟研究。版权所有© 2011年由ASME
In this paper, we develop a numerical mixed flexible-rigid body model to take into account the effects of the external disturbances acting on a flexible manipulator secondary to the oscillatory transmitral blood flow in the left ventricle. The manipulator is made of a flexible rubber-like material to further extend the surgical robotic-based catheters’ degrees of freedom and steer-ability in beating-heart prosthetic aortic valve implantation procedure. Along with the developed numerical model, a detailed description of the catheter’s mechanical architecture and the actuation system is also provided. Necessity of employing such a model for the designed system is clearly justified using simulation studies.Copyright © 2011 by ASME