Ganji Yusof, Janabi-Sharifi Farrokh
Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada.
IEEE Trans Biomed Eng. 2009 Mar;56(3):621-32. doi: 10.1109/TBME.2009.2013134. Epub 2009 Jan 23.
Steerable catheters are utilized frequently in minimally invasive cardiac interventions. Despite their extensive applications, the properties of the steerable section of such devices have not been thoroughly investigated. In this paper, the kinematics of the distal shaft of the catheters is modeled, and the catheter's reachable workspace and its singular configurations are studied. The modeling is empirically validated through experiments with actual catheters mounted on a specialized robot. The statistical analysis of the experiments verify the effectiveness of the proposed model in estimating the catheter's tip position. In the experiments, the modeling error does not exceed 2.66 +/- 1.96 mm, and the mean absolute error in position coordinates is less than 1.55 mm. In addition, the linear relationship between the model and the measured position vectors is demonstrated, and the significance of the modeling goodness of fit is established. Based on the precision and computational effectiveness of the method, the applicability of the modeling to control and simulation purposes is postulated.
可操纵导管在微创心脏介入手术中经常被使用。尽管其应用广泛，但此类设备可操纵部分的特性尚未得到充分研究。本文对导管远端轴的运动学进行了建模，并研究了导管的可达工作空间及其奇异构型。通过在专门机器人上安装实际导管进行实验，对建模进行了实证验证。实验的统计分析验证了所提出模型在估计导管尖端位置方面的有效性。在实验中，建模误差不超过2.66±1.96毫米，位置坐标的平均绝对误差小于1.55毫米。此外，证明了模型与测量位置向量之间的线性关系，并确定了建模拟合优度的显著性。基于该方法的精度和计算效率，假定了该建模在控制和模拟目的方面的适用性。
