A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers
文献类型：会议论文
| 作者 | Xiaoran Cheng ; Qingkun Song; Xiaoliang Xie; Long Cheng; Li Wang; Guibin Bian; Zeng-Guang Hou; Tingwen Huang; Pusit Prasong
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| 出版日期 | 2017 |
| 会议日期 | APR 16-19, 2017 |
| 会议地点 | DaNang |
| 国家 | Vienam |
| 英文摘要 | The simulator based on interactive virtual reality can solve many drawbacks in traditional surgery training, and it is widely used to train apprentices. A real-time and realistic guidewire model is a challenging task for the simulator, which is used to simulate minimally invasive vascular surgery. In this paper, we propose a fast and stable physical model to simulate the behavior of the guidewire. And Cosserat theory of elastic rods is used to simulate the bending and twisting of the guidewire, the inextensibility of which is maintained with Lagrange multipliers. Then an operation method is proposed to control the virtual guidewire effectively. Finally, some experiments are conducted to demonstrate the effectiveness of our guidewire model and the operation method. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23128]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 推荐引用方式 GB/T 7714 | Xiaoran Cheng,Qingkun Song,Xiaoliang Xie,et al. A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers[C]. 见:. DaNang. APR 16-19, 2017. |
入库方式： OAI收割
来源：自动化研究所
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