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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)
作者部门机器人学研究室
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码13-18
收录类别EI ; CPCI(ISTP)
EI收录号20164302940128
WOS记录号WOS:000389835200003
产权排序1
ISSN号2379-7711
ISBN号978-1-5090-2732-3
关键词Flexible Needle Driving Method Ukf Position Feedback Control
摘要The 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.
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/173321/19302
专题机器人学研究室
通讯作者Huo BY(霍本岩)
作者单位1.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
推荐引用方式
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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