Closed-loop control of bevel-tip needles based on path planning | |
Huo BY(霍本岩)2,3; Xu WL(徐卫良)1![]() ![]() ![]() | |
刊名 | Robotica
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2018 | |
卷号 | 36期号:12页码:1857-1873 |
关键词 | Medical Robotics Bevel-tip Needle Particle Swarm Optimization Path Planning Ukf |
ISSN号 | 0263-5747 |
产权排序 | 1 |
英文摘要 | 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. |
资助项目 | Nation Natural Science Foundation of China[61473265] ; Science and Technology Innovation Research Team Support Plan of Henan Province[17IRTSTHN013] |
WOS关键词 | STEERABLE NEEDLES ; FLEXIBLE NEEDLE ; SOFT-TISSUE ; 3D ENVIRONMENTS ; OBSTACLES ; INSERTION ; MODEL ; 3-D |
WOS研究方向 | Robotics |
语种 | 英语 |
WOS记录号 | WOS:000448286700005 |
资助机构 | Nation Natural Science Foundation of China ; Science and Technology Innovation Research Team Support Plan of Henan Province |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/22775] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Huo BY(霍本岩) |
作者单位 | 1.University of Auckland, Auckland, New Zealand 2.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China 3.School of Electrical Engineering, Zhengzhou University, Zhengzhou, China |
推荐引用方式 GB/T 7714 | Huo BY,Xu WL,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,Xu WL,Han JD,&Zhao XG.(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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