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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)
Department机器人学研究室
Conference Name11th World Congress on Intelligent Control and Automation (WCICA 2014)
Conference DateJune 29 - July 4, 2014
Conference PlaceShenyang, China
Source PublicationProceeding of the 11th World Congress on Intelligent Control and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages5051-5056
Indexed ByEI ; CPCI(ISTP)
EI Accession number20152600977197
WOS IDWOS:000393066205015
Contribution Rank1
ISBN978-1-4799-5825-2
KeywordFlexible Needle Extended Kalman Filter Unscented Kalman Filter Particle Filter
AbstractNeedle 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.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15391
Collection机器人学研究室
Affiliation1.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
Recommended Citation
GB/T 7714
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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