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题名: Estimation Methods of Flexible Tip-Steerable Needles: A Comparative Study
作者: Zou YJ(邹宜君); Zhao XG(赵新刚); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期: June 29 - July 4, 2014
会议地点: Shenyang, China
会议录: Proceeding of the 11th World Congress on Intelligent Control and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 5051-5056
收录类别: EI
ISBN号: 978-1-4799-5825-2
关键词: flexible needle ; extended kalman filter ; unscented kalman filter ; particle filter
摘要: Needle insertion was used in percutaneous procedures such as biopsies and brachytherapy. Flexible Needles has attracted many attentions for its advantages in obstacle avoidance. In order to make the flexible needle reach the target position, the position and attitude of the flexible needle must be estimated. This paper uses three different non-linear estimation methods to estimate the st1ate of the flexible needle. The first one is the most commonly used extended kalman filter (EKF), the second is unscented kalman filter (UKF), the last one is the particle filter (PF). Principle, complexity and characteristic of the three estimation methods is different. In this paper, these different kind of filters is applied in the flexible needle with a comparative analysis. The uncertainty of the bevel-up needle model is not only reflected in the noises which these filters mainly deal with, but also the uncertainty of the model parameter. In this paper, the model parameter error is also considered. Kalman filter is based on the Gaussian noises. In this paper, we consider the situation of non-Gaussian noises.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15391
Appears in Collections:机器人学研究室_会议论文

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