Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Inextensible Wire-shaped Deformation Model for Catheter Simulation

카테터의 거동을 시뮬레이션 하기 위한 고정된 길이를 유지하는 실 형상의 변형체 모델

  • Han, Hyehyun (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Doo Yong (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2016.05.26
  • Accepted : 2016.07.18
  • Published : 2016.08.01
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Abstract

This paper proposes an inextensible wire-shaped deformation model to simulate catheter behavior. The wire-shaped model consists of serially-connected mass points and massless rigid links. Torsional springs and dampers are employed to accommodate bending. Deformation is computed by updating the rotation angles from the global coordinates while maintaining the fixed length condition. Equations of motion is derived from double pendulum motion. Spring constant is computed using strain energy and potential energy stored in a torsional spring to reflect material property. Simulation is conducted to show deformation of wire model while maintaining inextensibility condition and including material properties. The proposed method guarantees inextensible constraint in the catheter simulation.

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References

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