Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

Abstract:

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

• Periodical: Applied Mechanics and Materials (Volume 527)
• Pages: 140-145
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.527.140
• Online since: February 2014
• Authors: Da Xu Zhao*, Bai Chen, Guo Zhong Shou, Yu Qi Gu
• Keywords: Cable-Driven, Dynamic, Interventional Catheter, Kane Method

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