Respect for Tissue Representation Using Photoelastic Stress Analysis for Endovascular Surgery Simulation - Microsurgery: Advances, Simulations, and Applications - page 154

700 400 350

L1 L2

350

600 300

L3 L4

L5 Reference

300

500

250

250

400 200

200

L1 L2

300 150

L3 L4

150

L5 Reference

L1 L2

200

100

L3 L4

100

L5 Reference

100 50

50

0 0 0

0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

Normalized Time [-] Normalized Time [-] Normalized Time [-]

Figure 4.28 Catheter tip position in the three axes in normalized time for
trajectories L 1 -L 5 and the obtained reference trajectory.

800 1200

Reference XZ L1

700

L2 L3

1000

L4 L5

600

800

500

400 600

300

400

200

Reference XY L1

200

100

L2 L3

L4 L5

0 0

0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

Normalized Time [-] Normalized Time [-]

Figure 4.29 Blood vessel wall deformation in normalized time for
trajectories L 1 -L 5 and the obtained reference trajectory.

10 5

9

4.5

8

4

7 3.5

6

3

5

2.5

4

2

Reference XZ L1

3

1.5

L2 L3

Reference XY L1

2 L4 L5

1

L2 L3

L4 L5

1

0.5

0

0

0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1

Normalized Time [-]

Normalized Time [-]

Figure 4.30 Stress level in normalized time for trajectories L 1 -L 5 and the
obtained reference trajectory.

The reference trajectory construction method was applied in
a mono-vision coniguration to compare the catheter motion and
stress levels variation of reference trajectory with trajectories
while the catheter was driven by inexperienced human and robot.