Qi Peng, Liu Hongbin, Seneviratne Lakmal, Althoefer Kaspar
Annu Int Conf IEEE Eng Med Biol Soc. 2014;2014:3009-12. doi: 10.1109/EMBC.2014.6944256.
This paper presents a recent study on kinematic modeling of a remote-controlled active catheter. The tip steering motion of the catheter is actuated in a tendon-driven manner. Two antagonistic groups of tendon actuation realize the distal tip deflecting with two-degree-of-freedom (2-DOF) allowing it to reach a considerable large spatial workspace without catheter shaft rotation. However, when modeling such bending deformation, the sequential rotation approach is easily misapplied. We address this problem and introduce a novel and unified modeling methodology based on the concept of simultaneous rotation and the use of Rodrigues' rotation formula. An accurate model is created for robotic catheters and also can be generalized to common multi-tendon-driven continuum manipulators. It is essential in achieving accurate control and improving autonomous execution of command tracking tasks.
本文介绍了一项关于遥控主动导管运动学建模的最新研究。导管的尖端转向运动以腱驱动的方式进行驱动。两组拮抗的腱驱动实现了远端尖端的两自由度（2-DOF）偏转，使其能够在不旋转导管轴的情况下到达相当大的空间工作空间。然而，在对这种弯曲变形进行建模时，顺序旋转方法很容易被误用。我们解决了这个问题，并基于同时旋转的概念和罗德里格斯旋转公式的使用引入了一种新颖且统一的建模方法。为机器人导管创建了一个精确的模型，并且该模型还可以推广到常见的多腱驱动连续体操纵器。这对于实现精确控制和改进命令跟踪任务的自主执行至关重要。
