Analytical Computation of the Contact Force Jacobian for MRI-Actuated Robotic Catheter.

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2023-10-01 Epub Date: 2023-12-13 DOI:10.1109/iros55552.2023.10342418

Yuttana Itsarachaiyot, Ran Hao, M Cenk Çavuşoğlu

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Abstract

Contact force Jacobian relates the changes in the contact force to the changes in the actuation of a robotic catheter in contact with a surface. In this paper, we present an analytical method for calculating the contact force Jacobian for the Cosserat rod model of an MRI-actuated robotic catheter. First, the Cosserat rod model of the MRI-actuated robotic catheter under tip contact position constraint is introduced. For the analytical derivation of contact force Jacobian, the initial value problem parameter derivatives are defined and calculated analytically. Finally, simulation results show that the presented analytical method calculates the contact force Jacobian in significantly shorter computation time with comparable accuracy, compared to direct numerical computation.

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磁共振成像机器人导管接触力雅各布的分析计算

接触力雅各布系数将接触力的变化与机器人导管在接触表面时的驱动力变化联系起来。本文提出了一种分析方法，用于计算磁共振成像致动机器人导管的 Cosserat 杆模型的接触力雅各布。首先，介绍在尖端接触位置约束下的核磁共振成像机器人导管的 Cosserat 杆模型。为了分析推导接触力雅各布，定义了初值问题参数导数并进行了分析计算。最后，仿真结果表明，与直接数值计算相比，所提出的分析方法计算接触力雅各布的时间大大缩短，精度相当。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

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