机械与电子Issue(5)：8-11,12,5.
基于旋量理论的主动介入导管运动学研究
Kinematics Modeling of Intervention Active Catheter Based on Screw Theory
摘要
Abstract
Considering complex and changeable characteristics of the operating environment for the surgical intervention,the paper proposes a SMA (shape memory alloy)and the cable hybrid driven modular catheter to improve the versatility of in-terventional devices.Screw and POE (product of exponentials formula)method were used to estab-lish the kinematics model of a three j oint inter-ventional active catheter.According to the mathe-matical model,the workspace and motion simula-tion of the active catheter were analyzed by the use of Mathematica.The simulation results verified the effectiveness and correctness of the kinematics model,and the approach greatly reduced the com-plexity of kinematics model for multi section in-terventional catheter,which makes a theoretical foundation for the practical application of interven-tional catheter robot.关键词
主动介入导管/指数积方法/运动学/运动仿真/工作空间Key words
interventional active catheter/prod-uct of exponentials formula/kinematics/motion simulation/workspace分类
信息技术与安全科学引用本文复制引用
张健,陈柏,陈笋,耿令波,吴洪涛..基于旋量理论的主动介入导管运动学研究[J].机械与电子,2014,(5):8-11,12,5.基金项目
国家“八六三”科技计划项目(2013AA041004) （2013AA041004）
国家自然科学基金资助项目(51075209) （51075209）
江苏省自然科学基金资助项目(BK2012798) （BK2012798）
江苏省产学研联合创新资金前瞻性联合研究资助项目(BY2012011) （BY2012011）
南京市科委产学研计划资助项目(201204014) （201204014）
上海市科委科技计划资助项目(124119a3900) （124119a3900）
上海交通大学医工交叉资助项目(YG2011MS08) （YG2011MS08）
