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题名:
Driving flexible needles in 3D tissue without obstacles
作者: 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
通讯作者: 霍本岩
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: 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 13-18
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
EI收录号: 20164302940128
WOS记录号: WOS:000389835200003
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19302
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Huo BY,Zhao XG,Han JD,et al. Driving flexible needles in 3D tissue without obstacles[C]. 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.Driving flexible needles in 3D tissue without obstacles.
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