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Estimation Methods of Flexible Tip-Steerable Needles: A Comparative Study
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
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码5051-5056
收录类别EI ; CPCI(ISTP)
EI收录号20152600977197
WOS记录号WOS:000393066205015
产权排序1
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
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15391
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Shenyang, Liaoning, China
2.University of Chinese Academy of Sciences (UCAS), Beijing, China
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Zou YJ,Zhao XG,Han JD. Estimation Methods of Flexible Tip-Steerable Needles: A Comparative Study[C]. Piscataway, NJ, USA:IEEE,2014:5051-5056.
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