Ryu Jajun, Kim Hwa Young
School of Mechanical Engineering, Pusan National University, room M117 building 303, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, 46241, South Korea.
School of Mechanical Engineering, Pusan National University, room M117 building 303, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, 46241, South Korea.
J Mech Behav Biomed Mater. 2025 Oct;170:107068. doi: 10.1016/j.jmbbm.2025.107068. Epub 2025 Jun 6.
This study introduces a quasilinear viscoelastic (QLV) beam model designed to enhance the tip positioning accuracy of steerable catheters used in minimally invasive surgeries. The catheter is modeled as a QLV beam with multiple segments of varying stiffness to accurately capture its bending behavior. Kinematic equations are presented to calculate the tip position based on the curvature of each segment. Stress relaxation tests are performed to identify the material parameters of the QLV model, and its accuracy is validated through performance tests under random deformations. Comparative performance analysis with elastic and linear viscoelastic models demonstrates that the QLV model achieves superior accuracy. The mean tip position error of the QLV model shows improvements of 80.6% and 30.9% compared to the elastic model and the linear viscoelastic model, respectively. These findings underscore the critical importance of incorporating time-dependent and nonlinear behaviors in accurately modeling the bending of steerable catheters.
本研究介绍了一种准线性粘弹性（QLV）梁模型，旨在提高微创手术中使用的可操纵导管的尖端定位精度。该导管被建模为具有多个不同刚度段的QLV梁，以准确捕捉其弯曲行为。提出了运动学方程，用于根据每个段的曲率计算尖端位置。进行应力松弛试验以识别QLV模型的材料参数，并通过随机变形下的性能测试验证其准确性。与弹性和线性粘弹性模型的对比性能分析表明，QLV模型具有更高的精度。与弹性模型和线性粘弹性模型相比，QLV模型的平均尖端位置误差分别提高了80.6%和30.9%。这些发现强调了在准确模拟可操纵导管弯曲时纳入时间依赖性和非线性行为的至关重要性。
