Parameter Optimization of Pseudo-Rigid-Body Models of MRI-Actuated Catheters.
Parameter Optimization of Pseudo-Rigid-Body Models of MRI-Actuated Catheters.
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DOI：
10.1109/embc.2016.7591877
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发表时间：
2016-08
期刊：
影响因子：
--
通讯作者：
Çavuşoğlu MC
中科院分区：
文献类型：
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作者：
Greigarn T;Liu T;Çavuşoğlu MC
模拟和控制的系统包含顺应性机制，如心脏导管往往会导致高的计算成本。降低成本的一种方法是用伪刚体模型（PRBM）来近似机构。PRBM通常由通过弹簧加载的旋转接头连接的刚性连杆组成。刚性连接件的长度和弹簧的刚度通常被选择为使PRBM和顺应性机构之间的尖端偏转差异最小化。在大多数应用中，只考虑端部载荷和尖端挠度之间的关系。这显然不适用于由附接到身体的线圈致动的MRI致动导管。本文将PRBM参数优化推广到包括沿车身沿着的载荷和参考点。
Simulation and control of a system containing compliant mechanisms such as cardiac catheters often incur high computational costs. One way to reduce the costs is to approximate the mechanisms with Pseudo-Rigid-Body Models (PRBMs). A PRBM generally consists of rigid links connected by spring-loaded revolute joints. The lengths of the rigid links and the stiffnesses of the springs are usually chosen to minimize the tip deflection differences between the PRBM and the compliant mechanism. In most applications, only the relationship between end load and tip deflection is considered. This is obviously not applicable for MRI-actuated catheters which is actuated by the coils attached to the body. This paper generalizes PRBM parameter optimization to include loading and reference points along the body.