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题名: Flexible tip-steerable needle control with tissue uncertainty
作者: Zhao XG(赵新刚) ; Kong, Lingguo ; Ye D(叶丹) ; Zhao YW(赵忆文) ; Wu ZW(吴镇炜)
作者部门: 机器人学研究室
会议名称: 26th Chinese Control and Decision Conference, CCDC 2014
会议日期: May 31, 2014 - June 2, 2014
会议地点: Changsha, China
会议录: 26th Chinese Control and Decision Conference, CCDC 2014
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2014
页码: 4612-4616
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781479937066
关键词: Feedback linearization ; Needles ; State estimation ; Uncertainty analysis
摘要: Accurate needle insertion into soft, inhomogeneous tissue is a critical aspect of many medical problems, such as the percutaneous diagnosis and therapies. In such procedures, the flexible tip-steerable needle with bevel tips can deflect during insertion and reach the target we set beforehand. In 2D motion planning, it's crucial to maintain the needle in a desired plane. However, the inhomogeneous and a sudden change of tissue during insertion, as well as the unmeasurable state variables, gives us a big problem to keep the needle tip in the desire plane accurately. In this paper, in order to reduce deflection of the needle from its path and to increase the accuracy of the needle tip placement, we use a feedback linearization scheme to realize the plane control based on a robust state observer, which can estimate the states of needle tip with tissue uncertainty. Simulation results are presented to illustrate the practicability of the scheme. © 2014 IEEE.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15161
Appears in Collections:机器人学研究室_会议论文

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