摘要
由一名新闻记者-机器人和机器学习的工作人员新闻编辑每日新闻-详细的机器人-机器人和自动化数据已经呈现。根据NewsRx编辑在英国伦敦的新闻报道，研究表明：“导管已经被广泛应用于心脏瓣膜疾病的治疗。然而，手柄结构和弯曲曲率的多样性给安全分娩和定位带来了巨大的复杂性。”本研究经费来自中国奖学金委员会。我们的新闻记者从伦敦国王学院的研究中获得了一句话，“在这封信中，我们设计了一个同轴组装在导管手柄上的单旋钮驱动模块，包括一个用于通用夹紧15至45 mm直径的夹头和一个可调节位置的轴，以适应旋钮之间的不同间隔。此外，针对导管可弯曲段(BSs)的弯曲控制问题,提出了一种双曲率伪连接TS(TC-PJ)模型,并根据其他三种变形模式将验证分解为两步,首先将双曲率(TC)模型与伪刚体Y(PRB)、常曲率(CC)和欧拉螺旋(ES)模型进行了比较,结果显示了更精确的形状表示。采用5种不同的导管对TC-PJ模型在考虑扭转应变和剪切应变的情况下的模块夹持通用性和针尖定位精度进行了测试,分析了针尖位置和方向的均方根误差(RMSE)和标准差(SD)。大鞘显示出最小位置RMSE(SD)约0.10（0.051）mm和0.049（2.15）度，而穿刺导管显示出最高位置和方向RMSE(SD)延伸到约1.16（0.53）mm和0.70（31.33）度，主要归因于两个连续可弯曲部件的耦合。
Abstract
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.”
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