SIA OpenIR  > 机器人学研究室
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)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6-9, 2015
Conference PlaceZhuhai, China
Source PublicationProceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages620-625
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161802327971
WOS IDWOS:000380476200104
Contribution Rank1
ISBN978-1-4673-9674-5
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17451
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Shape Reconstruction(1183KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Huo BY(霍本岩)]'s Articles
[Zhao XG(赵新刚)]'s Articles
[Han JD(韩建达)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Huo BY(霍本岩)]'s Articles
[Zhao XG(赵新刚)]'s Articles
[Han JD(韩建达)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Huo BY(霍本岩)]'s Articles
[Zhao XG(赵新刚)]'s Articles
[Han JD(韩建达)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Shape Reconstruction and Attitude Estimation of Bevel-Tip Needle via CT-Guidance.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.