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Greigarn T, Çavuşoğlu MC. Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters. IEEE Int Conf Robot Autom. 2015;2015:2263-2243doi: 10.1109/ICRA.2015.7139495.
Greigarn, T., & Çavuşoğlu, M. C. (2015). Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters. IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 20152263-2243. https://doi.org/10.1109/ICRA.2015.7139495
Greigarn, Tipakorn, and Çavuşoğlu, M Cenk. "Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters." IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation vol. 2015 (2015): 2263-2243. doi: https://doi.org/10.1109/ICRA.2015.7139495
Greigarn T, Çavuşoğlu MC. Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters. IEEE Int Conf Robot Autom. 2015 May;2015:2263-2243. doi: 10.1109/ICRA.2015.7139495. PMID: 26413380; PMCID: PMC4578324.
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IEEE Int Conf Robot Autom. 2015 May;2015:2263-2243. doi: 10.1109/ICRA.2015.7139495.

Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters.

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation

Tipakorn Greigarn, M Cenk Çavuşoğlu

Affiliations

  1. Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH. They can be reached via email at [email protected] and [email protected] respectively.

PMID: 26413380 PMCID: PMC4578324 DOI: 10.1109/ICRA.2015.7139495

Abstract

This paper presents a kinematic study of a pseudorigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward kinematics of the model presented here is applicable to PRBMs for other applications, actuation method is unique to the particular design. Hence, a careful study of singularities and manipulability of the model is required. The singularities are studied from the underlying equations of motion with intuitive interpretations. The proposed manipulability measure is a generalization of the inverse condition number manipulability measure of robotic manipulators. While the PRBM is an approximation of the flexible catheter, kinematic studies of the PRBM still provide some insight into feasibility and limitations of the catheter, which is beneficial to the design and motion planning of the catheter.

References

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Publication Types

Grant support