School of Automation, Beijing Institute of Technology, Beijing, 100081, China.
School of Life Science, Beijing lnstitute of Technology, Beijing, 100081, China.
Comput Methods Programs Biomed. 2023 Oct;240:107646. doi: 10.1016/j.cmpb.2023.107646. Epub 2023 Jun 8.
Magnetic guidewire, fabricated from hard-magnetic soft composites, has recently emerged as an appropriate candidate for magnetic actuation systems to perform intravascular surgical navigation, owing to its elastic, magnetically steerable properties and good interphase with biological tissues. A suitable and efficient mathematical model for the magnetic guidewire is essential in the system to execute remote manipulation and active control.
This paper presents a real-time Kirchhoff rod-based dynamical modeling approach, the magneto-elastic rod model, to simulate magnetic guidewire, which provides accurate simulations for two- and three-dimensional dynamic deflections induced by external magnetic fields and obtains deformed guidewire shapes in quasi-static status.
The proposed model is capable of describing the intrinsic principles of elastic body actuation by torques generated from the hard-magnetic soft matrix. The effectiveness of the developed model is validated, and the real-time simulation application is conducted via the semi-implicit numerical integration method.
It has been shown that the presented dynamical model captures large nonlinear deformations and transient responses of the magnetic guidewire in an imitated human blood environment, which could offer robust support for the construction of a simulated magnetically driven surgical system.
硬磁软复合材料制成的磁引导丝，由于其弹性、可磁导向特性以及与生物组织的良好界面，最近成为用于血管内手术导航的磁致动系统的合适候选材料。在系统中执行远程操作和主动控制，需要一个合适且高效的磁引导丝数学模型。
本文提出了一种实时 Kirchhoff 杆动力学建模方法，即磁弹性杆模型，用于模拟磁引导丝，该模型可以准确模拟外部磁场引起的二维和三维动态挠度，并获得准静态状态下的变形引导丝形状。
所提出的模型能够描述由硬磁软基体产生的扭矩使弹性体致动的内在原理。通过半隐式数值积分方法，验证了所开发模型的有效性，并进行了实时仿真应用。
研究表明，所提出的动力学模型可以捕捉到模拟人体血液环境中磁引导丝的大非线性变形和瞬态响应，这可为模拟磁驱动手术系统的构建提供有力支持。
