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Shape Reconstruction and Attitude Estimation of Bevel-Tip Needle via CT-Guidance
Huo BY(霍本岩); Zhao XG(赵新刚); Han JD(韩建达); Xu WL(徐卫良)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期December 6-9, 2015
会议地点Zhuhai, China
会议录名称Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码620-625
收录类别EI ; CPCI(ISTP)
EI收录号20161802327971
WOS记录号WOS:000380476200104
产权排序1
ISBN号978-1-4673-9674-5
摘要The bevel-tip flexible needle is an improvement of the traditional rigid needle and has the potential to reduce traumas, improve the controllability and reach multi-targets in one insertion. The needle steering robot system has the ability to deal with complex puncture environment and to improve the puncture precision, but it requires a precise feedback of needle tip’s position and attitude. Computerized tomography (CT) is a widely available imaging system that provides precise and clear images. Unfortunately, CT is not a real-time system and it is impossible to fetch the attitude of bevel-tip needle from CT image. A new method is proposed to estimate the attitude, in which the unscented kalman filter is employed. We extract the positions of the needle in CT images, reconstruct the needle shape, calculate the control quantity according to the insert distance and then estimate the attitude of the needle tip. Simulations and experiments demonstrate that the method proposed is effective. Implementation of shape reconstruction and attitude estimation of the bevel-tip needle in biological tissue is a significant step toward the precise control of bevel-tip needles.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17451
专题机器人学研究室
作者单位1.University of Chinese Academy of Science, Beijing, 100049, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
3.Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
推荐引用方式
GB/T 7714
Huo BY,Zhao XG,Han JD,et al. Shape Reconstruction and Attitude Estimation of Bevel-Tip Needle via CT-Guidance[C]. Piscataway, NJ, USA:IEEE,2015:620-625.
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