TY - GEN
T1 - Dynamic simulation of blood flow effects on flexible manipulators during intra-cardiac procedures on the beating heart
AU - Salimi, A.
AU - Mohammadpour, J.
AU - Grigoriadis, K.
AU - Tsekos, N. V.
PY - 2011
Y1 - 2011
N2 - In this paper, we develop a numerical mixed flexible-rigid body model to take into account the effects of the external disturbances acting on a flexible manipulator secondary to the oscillatory transmitral blood flow in the left ventricle. The manipulator is made of a flexible rubber-like material to further extend the surgical robotic-based catheters' degrees of freedom and steer-ability in beating-heart prosthetic aortic valve implantation procedure. Along with the developed numerical model, a detailed description of the catheter's mechanical architecture and the actuation system is also provided. Necessity of employing such a model for the designed system is clearly justified using simulation studies.
AB - In this paper, we develop a numerical mixed flexible-rigid body model to take into account the effects of the external disturbances acting on a flexible manipulator secondary to the oscillatory transmitral blood flow in the left ventricle. The manipulator is made of a flexible rubber-like material to further extend the surgical robotic-based catheters' degrees of freedom and steer-ability in beating-heart prosthetic aortic valve implantation procedure. Along with the developed numerical model, a detailed description of the catheter's mechanical architecture and the actuation system is also provided. Necessity of employing such a model for the designed system is clearly justified using simulation studies.
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U2 - 10.1115/DSCC2011-6167
DO - 10.1115/DSCC2011-6167
M3 - Conference contribution
AN - SCOPUS:84881447302
SN - 9780791854761
T3 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
SP - 487
EP - 494
BT - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
T2 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Y2 - 31 October 2011 through 2 November 2011
ER -