Photoelastic Stress Analysis Error Quantification in Vasculature Models for Robot Feedback Control

Catheter Insertion Reference Trajectory Construction Method Using Photoelastic Stress Analysis for Quantification ofRespect for TissueDuring Endovascular Surgery Simulation

“…After measuring the photoelastic coefficient and the blue light transmittance coefficient of urethane elastomer, there was an average error of 3.9% in stress magnitude measurements for the pressure range of 60-200 mmHg (Tercero et al 2010), Figure 4. In this polariscope the relation between the green light intensity and retardation is described by:…”

“…C ¼ 1.284 Â 10 À9 Pa À1 was measured for this material in (Tercero et al 2010). For this material D can measured using the blue light transmittance as described in (Tercero et al 2010).…”

“…Vasculature model and vision system. In this experiment we used a multilayer model of a carotid artery constructed in the same way as (Tercero et al 2010), filled and submerged in glycerin. We selected the polariscope shown in Figure 2(c) for the real time analysis due to the contrast quality and simplifications enabled by the mathematic model.…”

“…the blue light transmittance using the method described in (Tercero et al 2010). For preventing noise in this image we calculate the noise indicator S x,y for each pixel of D XY :…”

“…The calibration method for the stress analysis presented in (Tercero et al 2010) was used. If we consider that the quarter plates have the same wave length than the emerging beam, the green light intensity relation with retardation can be approximated by equation (3).…”