首页|Findings from King’s College London in Robotics and Automation Reported (Univers al Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization)
Findings from King’s College London in Robotics and Automation Reported (Univers al Actuation Module and Kinematic Model for Heart Valve Interventional Catheter Robotization)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Data detailed on Robotics - Robotics a nd Automation have been presented. According to news reporting out of London, Un ited Kingdom, by NewsRx editors, research stated, “Catheters have been widely us ed to deal with heart valve diseases. However, the diversity in handle structure s and bending curvatures imposes significant complexities in safe delivery and p ositioning.” Financial support for this research came from China Scholarship Council. Our news journalists obtained a quote from the research from King’s College Lond on, “In this letter, we designed a module for single knob actuation assembled co axially on the catheter handle, composed of a chuck for universal clamping of di ameters from 15 to 45 mm and a position-adjustable shaft to accommodate various spacing between knobs. In addition, we proposed a two-curvature with pseudo join ts (TC-PJ) model for bending control of bendable sections (BSs) in catheters. Th e verification was decoupled into two steps based on the other three deformation patterns. Firstly, comparing the two-curvature (TC) model with pseudo-rigid-bod y (PRB), constant curvature (CC), and Euler spiral (ES) models to simulate plana r bending and elongation, the results showed a more accurate shape representatio n. Then, five distinct catheters were employed to test the clamping universality of the module and tip positioning precision of the TC-PJ model which took torsi on and shear strain into consideration. The rootmean- square error (RMSE) and th e standard deviation (SD) of tip position and direction were analysed. Results i ndicated the module’s suitability for clamping these catheters, with the large g uide sheath exhibiting minimal position RMSE (SD) of around 0.10 (0.051) mm and 0.049 (2.15) degrees, while the puncture catheter demonstrated the highest posit ion and direction RMSE (SD) extending to about 1.16 (0.53) mm and 0.70 (31.33) d egrees, primarily attributed to the coupling of two sequential bendable componen ts.”
LondonUnited KingdomEuropeRobotics and AutomationRoboticsKing’s College London
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