A dynamical training and design simulator for active catheters

International Journal of Advanced Robotic Systems

Volumn 1, Issue 1, 2004, Pages 245-250

  Dumont, Georges ^a   Kuehl, Christofer ^b  

^a CAMPUS DE BEAULIEU   (France)

^b ARTS ET MÉTIERS PARISTECH   (France)

Author keywords

Catheter; Multi body modelization; Optimization; Virtual prototyping

Indexed keywords

CATHETERS; GENETIC ALGORITHMS; MAPS; MEDICAL COMPUTING; MICROACTUATORS; MULTI AGENT SYSTEMS; OPTIMIZATION; SHAPE-MEMORY ALLOY; SIMULATION PLATFORM; SIMULATORS; VIRTUAL PROTOTYPING;

BEHAVIOUR DESCRIPTIONS; DESIGN OPTIMIZATION; DYNAMICAL SIMULATION; MECHANICAL SIMULATIONS; MODELIZATION; MULTI-AGENT APPROACH; SHAPE MEMORY ALLOYS(SMA); VIRTUAL PROTOTYPING TECHNIQUE;

DESIGN;

EID: 34250847667     PISSN: 17298806     EISSN: 17298814     Source Type: Journal    
DOI: 10.5772/5815     Document Type: Article

References (18)

1. Barenburg, B. (2000). Designing A Class Library For Interactive Simulation Of Rigid Bodies, PhD thesis, Eindhoven University.
2. Cohn, M., Crawford, L., Wendlandt, J. & Sastry, S. S. (1995). Surgical applications of milli-robots. Journal of robotic systems, Vol 12, No 6, pp. 401-416.
3. Darwin, C. (1859). The origin of species.
4. Duhaut, D. (1993). Using a multi-agent approach to solve the inverse kinematics, Proceedings of IROS 1993 (Intelligent Robot and System Conference), IROS, pp. 2002-2007.
5. Dumont, G., Chapelle, F. & Bidaud, P. (2001). Toward virtual prototyping of active endoscopes, Proceedings of ISR2001 (International Symposium on Robotics), IFR (International Federation of Robotics), Seoul, Korea, pp. 821-826. 19-21 april 2001.
6. Dumont, G., Kühl, C. & Bidaud, P. (2002). Simulating and optimizing active endoscope prototypes, Proceedings of ISR2002 (International Symposium on Robotics), IFR (International Federation of Robotics), Stockholm, Sweden. 7-11 oct 2002.
7. Endo, K & Maeno, T. (2001). Simultaneous generation of morphology of body and neural system of multi-linked locomotive robot using evolutionary computation, Proceedings of ISR2001 (International Symposium on Robotics), IFR (International Federation of Robotics), Seoul, Korea, pp. 499-504. 19-21 april 2001.
8. Fung, Y. C. (1984), Biomechanics, Mechanical Properties of Living Tissues, Springer Verlag.
9. Ikuta, K., Iritani, K. & Fukuyama, J. (2001). Mobile virtual endoscope system with haptic and visual information for non-invasive inspection training, Proceedings of ICRA 2001 (International conference on robotics and automation), IEEE, Seoul, Korea, pp. 2037-2044.
10. Kühl, C. (2003). Prototypage virtuel d'endoscopes à actionneurs distribués, PhD thesis, École normale supérieure de Cachan.
11. Kühl, C., Dumont, G., Mognol, P., Gouleau, S. & Furet, B. (2002). Active catheter prototyping : From virtual to real, Proceedings of 4th International Conference On Integrated Design And Manufacturing In Mechanical Engineering, Primeca, IFMA, Clermont-Ferrand, France. 14-16 may 2002.
12. Lim, G., Minami, K., Yamamoto, K., Sugihara, M., Uchiyama, M. & Esashi, M. (1996). Multi-link active catheter with snake-like motion, Robotica, Vol. 14.
13. Margery, D., Arnaldi, B., Chauffaut, A., Donikian, S. & Duval, T. (2002). Openmask: Multi-threaded or modular animation and simulation kernel or kit : a general introduction, Proceedings of VRIC, pp. 101-110. http://www.openmask.org
14. Park, K. & Esashi, M. (1999). An active catheter with integrated circuit for communication and control, In Technical Digest of the Twelfth IEEE International Conference On Micro Electro Mechanical Systems (MEMS '99), IEEE, pp. 400-405.
15. Szewczyk, J., Sars, V. D., Bidaud, P. & Dumont, G. (2000). An active tubular polyarticulated micro-system for flexible endoscope, Proceedings of ISER2000 (7th International Symposium on Experimental Robotics), Hawaii. 10-13 december 2000.
16. Takehana, S., Ueda, Y., Gotanda, M., Sakurai, T. & Adachi, H. (1990). Apparatus for bending an insertion section of an endoscope using a SMA, United States Patent 05/06/1990 US4930494.
17. Troisfontaine, N. & Bidaud, P. (1998). Position and force control of sma micro-actuators, In : International Advanced Robotics Programm (IARP), pp. 110-126.
18. Wall, M. (1996). Galib: a C++ library of genetic algorithm components, Technical report, Massachusetts Institute of Technology, Mechanical Engineering Department.