抄録
According to the requirements on operating and controlling interventional catheter, a new design scheme for interventional catheter with a cable-driven active catheter system was proposed. A kinematics and dynamics model based on screw theory was achieved for special configuration on active catheter. Further, the control model of cable length was constructed through the relationship between driving cable length and motion state of the system. Thereby, the variation of the cable length in the planning task using this model was analyzed, which was verified by experiment. In view of the complexity of the system, dynamic characteristics using Kane's equation based on screw theory is analyzed in this paper. The needed driving torques of every joint are calculated in the environment of Mathematica when active head-end system is moving along planned trajectory, which provides theoretical basis for design and control of the system.
