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Modeling of the Flexible Instrument Inside the Vascular Environment for Its Motion Control in Minimally Invasive Procedures

Rezazadeh, Taha | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54659 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Nejat Pishkenari, Hossein
  7. Abstract:
  8. Minimally invasive procedures are diagnostic or therapeutic methods that cause minimal injuries and side effects for patients. PCI is a common minimally invasive procedure for diagnosis and curing of cardiovascular disorders. In this procedure, the surgeon can have access to the cardiac vessels by a flexible instrument. However, motion control of this instrument inside the patient's body relies on surgeon's skills and in some cases, is time consuming so that the toxic effects of radiation on patient and surgical team increases. Magnetic flexible instruments are suggested to address this problem. Nevertheless, motion control of the flexible instrument inside the body still has many challenges such as the effects of the vascular environment and dynamics of the instrument on its motion. In this study, dynamic modeling of the flexible instrument inside the vascular environment is accomplished. To this end, some approximate models are developed that model the motion of the instrument inside the vascular environment when the magnetic field is applied. furthermore, an exact model is developed for validation and parameter calibration of the approximate models. This exact model is based on finite element method and fluid-structure interaction. Also, some model-based controllers are designed that are based on approximate models and feedback linearization method. The results demonstrate that the real-time simulation of the flexible instrument motion can be accomplished and the Y-coordinate of its distal end can be properly controlled
  9. Keywords:
  10. Catheter ; Guidewire ; Modeling ; Locomotion Control ; Minimally Invasive Procedures ; Flexible Tools

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