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Closed-loop control of bevel-tip needles based on path planning
Huo BY(霍本岩)1,2; Zhao XG(赵新刚)2; Han JD(韩建达)2; Xu WL(徐卫良)3
作者部门机器人学研究室
关键词Medical Robotics Bevel-tip Needle Particle Swarm Optimization Path Planning Ukf
发表期刊Robotica
ISSN0263-5747
2018
卷号36期号:12页码:1857-1873
收录类别SCI ; EI
EI收录号20183705797759
WOS记录号WOS:000448286700005
产权排序1
资助机构Nation Natural Science Foundation of China (61473265) and the Science and Technology Innovation Research Team Support Plan of Henan Province (17IRTSTHN013)
摘要

SUMMARYBevel-tip needles have the potential to improve paracentetic precision and decrease paracentetic traumas. In order to drive bevel-tip needles precisely with the constrains of path length and path dangerousness, we propose a closed-loop control method that only requires the position of the needle tip and can be easily applied in a clinical setting. The control method is based on the path planning method proposed in this paper. To establish the closed-loop control method, a kinematic model of bevel-tip needles is first presented, and the relationship between the puncture path and controlled variables is established. Second, we transform the path planning method into a multi-objective optimization problem, which takes the path error, path length and path dangerousness into account. Multi-objective particle swarm optimization is employed to solve the optimization problem. Then, a control method based on path planning is presented. The current needle tip attitude is essential to plan an insertion path. We analyze two methods to obtain the tip attitude and compare their effects using both simulations and experiments. In the end, simulations and experiments in phantom tissue are executed and analyzed, the results show that our methods have high accuracy and have the ability to deal with the model parameter uncertainty.

语种英语
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/22775
专题机器人学研究室
通讯作者Huo BY(霍本岩)
作者单位1.School of Electrical Engineering, Zhengzhou University, Zhengzhou, China
2.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
3.University of Auckland, Auckland, New Zealand
推荐引用方式
GB/T 7714
Huo BY,Zhao XG,Han JD,et al. Closed-loop control of bevel-tip needles based on path planning[J]. Robotica,2018,36(12):1857-1873.
APA Huo BY,Zhao XG,Han JD,&Xu WL.(2018).Closed-loop control of bevel-tip needles based on path planning.Robotica,36(12),1857-1873.
MLA Huo BY,et al."Closed-loop control of bevel-tip needles based on path planning".Robotica 36.12(2018):1857-1873.
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