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Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac Procedures on the Beating Heart

[+] Author Affiliations
A. Salimi, J. Mohammadpour, K. Grigoriadis, N. V. Tsekos

University of Houston, Houston, TX

Paper No. DSCC2011-6167, pp. 487-494; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME


In this paper, we develop a numerical mixed flexible-rigid body model to take into account the effects of the external disturbances acting on a flexible manipulator secondary to the oscillatory transmitral blood flow in the left ventricle. The manipulator is made of a flexible rubber-like material to further extend the surgical robotic-based catheters’ degrees of freedom and steer-ability in beating-heart prosthetic aortic valve implantation procedure. Along with the developed numerical model, a detailed description of the catheter’s mechanical architecture and the actuation system is also provided. Necessity of employing such a model for the designed system is clearly justified using simulation studies.

Copyright © 2011 by ASME



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