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	A fast and stable guidewire model for minimally invasive vascular surgery based on Lagrange multipliers
	Xiaoran Cheng; Qingkun Song; Xiaoliang Xie; Long Cheng; Li Wang; Guibin Bian; Zeng-Guang Hou; Tingwen Huang; Pusit Prasong
	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.
内容类型	会议论文
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.

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