An inextensible wire-shaped deformation model for catheter simulation 카테터의 거동을 시뮬레이션 하기 위한고정된 길이를 유지하는 실 형상의 변형체 모델

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This paper proposes an inextensible wire-shaped deformation model to simúlate 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.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2016-08
Language
English
Citation

Journal of Institute of Control, Robotics and Systems, v.22, no.8, pp.610 - 614

ISSN
1976-5622
DOI
10.5302/J.ICROS.2016.16.0119
URI
http://hdl.handle.net/10203/213808
Appears in Collection
ME-Journal Papers(저널논문)
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