AR 2013 Recap

The soft, atraumatic construction of passive flexible catheters help reduce injury
to delicate cardiac structures while providing a means of tool placement and
control.  To provide kinematic and control relationships, various models of continuous catheters have been developed. However, these approaches cannot explain the nonlinear behavior of the catheter when the effect of internal friction is considered.  A nonlinear model was developed based on a lumped-parameter modeling approach which directly accounts for the effects of internal device friction. The model with friction was extensively validated against experimental data obtained with a prototype experimental robotic catheter.  Specifically, the nonlinear model correctly predicted the variation in curvature along the length of the catheter under various catheter motions.
In addition, the nonlinear model correctly predicted the instantaneous motion of the catheter end-point position, demonstrating the path dependent behavior of the catheter.

[paper]

Comparison of catheter curvature: articulation and retraction


Prototype catheter at 90 degrees articulation

Comparison of catheter curvature from experiment and model data when articulated

Prototype catheter retracted to 4.92cm

Comparison of catheter curvature from experiment and model data when retracted

Instantaneous behavior: experiment and simulation


Comparison of the instantaneous behavior of
the experimental catheter and the simulation models
 
Simulated instantaneous behavior of
extension and retraction at different articulations

 

Comments are closed.