title: Parameter Optimization of Pseudo-Rigid-Body Models of MRI-Actuated Catheters.
abstract: Simulation and control of a system containing compliant mechanisms such as cardiac catheters often incur high computational costs. One way to reduce the costs is to approximate the mechanisms with Pseudo-Rigid-Body Models (PRBMs). A PRBM generally consists of rigid links connected by spring-loaded revolute joints. The lengths of the rigid links and the stiffnesses of the springs are usually chosen to minimize the tip deflection differences between the PRBM and the compliant mechanism. In most applications, only the relationship between end load and tip deflection is considered. This is obviously not applicable for MRI-actuated catheters which is actuated by the coils attached to the body. This paper generalizes PRBM parameter optimization to include loading and reference points along the body.
authors.affiliation: Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.
authors.forename: Tipakorn
authors.initials: T
authors.lastname: Greigarn
authors.affiliation: Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.
authors.forename: Taoming
authors.initials: T
authors.lastname: Liu
authors.affiliation: Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.
authors.forename: M Cenk
authors.initials: MC
authors.lastname: Çavuşoğlu
mesh_terms: D000465:Algorithms; D062906:Cardiac Catheters; D006801:Humans; D008279:Magnetic Resonance Imaging; D008962:Models, Theoretical