A modeling approach for robotic catheters: effects of nonlinear internal device friction
A modeling approach for robotic catheters: effects of nonlinear internal device friction
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DOI：
10.1080/01691864.2013.879371
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发表时间：
2014-04-18
影响因子：
2
通讯作者：
Zinn, Michael R.
中科院分区：
文献类型：
--
作者：
Jung, Jinwoo;Penning, Ryan S.;Zinn, Michael R.
最近，使用被动柔性导管的机器人手术系统已被开发用于微创手术应用，例如在心房颤动的治疗中，其中需要在心脏的开放腔室中进行导管控制。这些装置的柔软、无损伤结构有助于减少对脆弱心脏结构的伤害，同时提供工具放置和控制的方法。为了提供运动学和控制关系，已经开发了各种连续导管模型。然而，当考虑内摩擦的影响时，这些方法无法解释导管的非线性行为。在本文中，我们描述了一种直接考虑内部设备摩擦影响的集总参数建模方法。该非线性模型根据原型机器人导管的实验结果进行了验证，并被证明可以正确预测观察到的曲率和路径相关瞬时行为的变化。最后，经过验证的模型用于研究和描述实践中观察到的一组非理想导管运动。
Recently, robotic surgery systems using passive flexible catheters have been developed for minimally invasive surgical applications - such as in the treatment of atrial fibrillation - where catheter control in the open chamber of the heart is required. The soft, atraumatic construction of these devices help reduce injury to delicate cardiac structures while providing a means of tool placement and control. To provide kinematic and control relationships, various models of continuous catheters have been developed. However, these approaches cannot explain the nonlinear behavior of the catheter when the effect of internal friction is considered. In this paper, we describe a lumped-parameter modeling approach which directly accounts for the effects of internal device friction. The nonlinear model is validated against experimental results from a prototype robotic catheter and is shown to correctly predict the variations in curvature and path-dependent instantaneous behavior observed. Finally, the validated model is used to investigate and describe a set of non-ideal catheter motions observed in practice.