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基于Kirchhoff棒的三维动态模型和医疗磁导线的实时模拟

Zhiwei Wu¹, Jinhui Zhang¹, Siyi Wei¹

¹School of Automation, Beijing Institute of Technology, Beijing, 100081, China.

Computer methods and programs in biomedicine

|June 15, 2023

概括

一个新的磁弹性杆模型准确地模拟了用于血管内外科手术的磁导线. 这种动态模型捕捉了大变形,支持磁驱动手术系统的发展.

科学领域:

机器人和控制系统机器人和控制系统
生物医学工程生物医学工程
材料科学材料科学材料科学

背景情况:

磁导线由硬磁软复合材料制成,由于其弹性和磁性可转向性,非常适合用于血管内外科导航.
有效的数学建模对于这些磁导线的远程操纵和主动控制至关重要.

研究的目的:

开发磁导线的实时动态模型.
模拟磁导线在外部磁场下的行为.

主要方法:

采用了一种基于Kirchhoff棒的动态建模方法,称为磁弹性棒模型.
该模型模拟了二维和三维的动态偏移和准静态变形.
实时模拟使用半隐性数值集成方法进行.

主要成果:

该模型有效地描述了通过来自硬磁软矩阵的扭矩来实现弹性体的启动.
验证证实了该模型的有效性.
实时模拟应用成功进行.

结论:

呈现的动态模型准确地捕捉了磁导线的大型非线性变形和短暂反应.
该模型在模仿人类血液环境中有效.
这项工作为创建模拟磁驱动手术系统提供了强有力的支持.

关键词:

动态模型模型的动态模型基尔霍夫棒模型的模型磁导线是指导导线的磁性导线.微创手术是最少的侵入性手术.

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