Experimental Validation of the Pseudo-Rigid-Body Model of the MRI-Actuated Catheter.
Experimental Validation of the Pseudo-Rigid-Body Model of the MRI-Actuated Catheter.
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DOI：
10.1109/icra.2017.7989414
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发表时间：
2017-05
期刊：
影响因子：
--
通讯作者：
Çavuşoğlu MC
中科院分区：
文献类型：
--
作者：
Greigarn T;Jackson R;Liu T;Çavuşoğlu MC
MRI驱动导管是一种新型的机器人导管系统，它利用MRI对房颤导管消融进行远程控制和可视化。导管的规划和控制需要一个足够快速而准确的导管模型。伪刚体（PRB）模型通过将连续体导管近似为由柔性关节连接的刚性连杆，从而将连续体机构的无限自由度降低到有限自由度，从而在速度和精度之间进行了合理的权衡。本文通过对比PRB模型与导管原型的挠度，对mri驱动导管的PRB模型进行了实验验证。
An MRI-actuated catheter is a novel robotic catheter system that utilizes the MRI for both remote steering and visualization for catheter ablation of atrial fibrillation. Planning and control of the catheter requires a sufficiently fast yet accurate model of the catheter. The pseudo-rigid-body (PRB) model offers a reasonable trade-off between speed and accuracy by approximating the continuum catheter as rigid links connected by flexible joints, thus reducing the infinite degrees of freedom of the continuum mechanism to a finite one. In this paper, a PRB model of the MRI-actuated catheter is validated experimentally by comparing the deflections of the PRB model with the deflections of the catheter prototype.