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Driving flexible needles in 3D tissue without obstacles
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 Name6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
Conference DateJune 19-22, 2016
Conference PlaceChengdu, China
Source Publication6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages13-18
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164302940128
WOS IDWOS:000389835200003
Contribution Rank1
ISSN2379-7711
ISBN978-1-5090-2732-3
KeywordFlexible Needle Driving Method Ukf Position Feedback Control
AbstractThe bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to a target precisely. In this paper, a driving method is proposed to steer flexible needles to a target in 3-D environment without obstacles. In addition, a real-time closed-loop control system is set up based on the method. The proposed method needs a priori knowledge of model parameter, which is obtained by offline identifying and the needle tip's position and attitude. We obtain the tip's position with an image-guided system and employ UKF (Unscented Kalman Filter) to estimate the needle tip's attitude. Simulations verify that the driving method is precise and robust. The tip error will be confined to 0.5mm when the insertion distance is 120mm.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19302
Collection机器人学研究室
Corresponding AuthorHuo BY(霍本岩)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Shenyang, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 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. Driving flexible needles in 3D tissue without obstacles[C]. Piscataway, NJ, USA:IEEE,2016:13-18.
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