SIA OpenIR  > 机器人学研究室
Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues
Yang TW(杨唐文)1; Xiao, Lifang1; Chen PF(陈盼飞)1; Zhu, Haifeng1; Zhao XG(赵新刚)2; Song GL(宋国立)2; Han JD(韩建达)3; Xu WL(徐卫良)4
Department机器人学研究室
Conference Name25th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2018
Conference DateNovember 20-22, 2018
Conference PlaceStuttgart, Germany
Source PublicationProceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages1-5
Indexed ByEI ; CPCI(ISTP)
EI Accession number20190806535430
WOS IDWOS:000459815100008
Contribution Rank2
ISBN978-1-5386-7544-1
Keywordrobotic needle insertion force feedback control wavelet transform boundaries identification layered tissue
AbstractIn this study, a feedback control law is proposed to steer a robotic needle using force information from a fiber optic sensor. This sensor is integrated into the lumen at the distal end of the needle to measure the needle insertion force. The force signals are analyzed via wavelet transform to identify the boundaries of layered soft tissues in real time. The boundaries information is then used in the robotic needle steering scheme to reduce as much as possible the insertion force, and mitigate the risk of tissue injury. Porcine belly tissue phantoms are herein used in the ex vivo tests of robotic needle insertion, and comparative study has been done with and without insertion force feedback. Experimental results show that the force feedback control approach proposed reduces effectively the insertion force.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24239
Collection机器人学研究室
Corresponding AuthorYang TW(杨唐文)
Affiliation1.Institute of Information Science, Beijing Jiaotong University, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
3.College of Artificial Intelligence, Nankai Univeristy, Tianjin, China
4.Department of Mechnaical Engineering, University of Auckland, Auckland, New Zealand
Recommended Citation
GB/T 7714
Yang TW,Xiao, Lifang,Chen PF,et al. Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues[C]. New York:IEEE,2018:1-5.
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