SIA OpenIR  > 机器人学研究室
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
Department机器人学研究室
Source PublicationRobotica
ISSN0263-5747
2018
Volume36Issue:12Pages:1857-1873
Indexed BySCI ; EI
EI Accession number20183705797759
WOS IDWOS:000448286700005
Contribution Rank1
Funding OrganizationNation Natural Science Foundation of China ; Science and Technology Innovation Research Team Support Plan of Henan Province
KeywordMedical Robotics Bevel-tip Needle Particle Swarm Optimization Path Planning Ukf
Abstract

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.

Language英语
WOS SubjectRobotics
WOS KeywordSTEERABLE NEEDLES ; FLEXIBLE NEEDLE ; SOFT-TISSUE ; 3D ENVIRONMENTS ; OBSTACLES ; INSERTION ; MODEL ; 3-D
WOS Research AreaRobotics
Funding ProjectNation Natural Science Foundation of China[61473265] ; Science and Technology Innovation Research Team Support Plan of Henan Province[17IRTSTHN013]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22775
Collection机器人学研究室
Corresponding AuthorHuo BY(霍本岩)
Affiliation1.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
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Closed-loop control (555KB)期刊论文作者接受稿开放获取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: Closed-loop control of bevel-tip needles based on path planning.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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