IMR OpenIR
Closed-loop control of bevel-tip needles based on path planning
Huo, Benyan1,2; Zhao, Xingang2; Han, Jianda2; Xu, Weiliang3
Corresponding AuthorHuo, Benyan(huoby@zzu.edu.cn)
2018-12-01
Source PublicationROBOTICA
ISSN0263-5747
Volume36Issue:12Pages:1857-1873
AbstractBevel-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.
KeywordMedical robotics Bevel-tip needle Particle swarm optimization Path planning UKF
Funding OrganizationNation Natural Science Foundation of China ; Science and Technology Innovation Research Team Support Plan of Henan Province
DOI10.1017/S0263574718000772
Indexed BySCI
Language英语
Funding ProjectNation Natural Science Foundation of China[61473265] ; Science and Technology Innovation Research Team Support Plan of Henan Province[17IRTSTHN013]
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000448286700005
PublisherCAMBRIDGE UNIV PRESS
Citation statistics
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/130092
Collection中国科学院金属研究所
Corresponding AuthorHuo, Benyan
Affiliation1.Zhengzhou Univ, Sch Elect Engn, Zhengzhou, Henan, Peoples R China
2.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China
3.Univ Auckland, Auckland, New Zealand
Recommended Citation
GB/T 7714
Huo, Benyan,Zhao, Xingang,Han, Jianda,et al. Closed-loop control of bevel-tip needles based on path planning[J]. ROBOTICA,2018,36(12):1857-1873.
APA Huo, Benyan,Zhao, Xingang,Han, Jianda,&Xu, Weiliang.(2018).Closed-loop control of bevel-tip needles based on path planning.ROBOTICA,36(12),1857-1873.
MLA Huo, Benyan,et al."Closed-loop control of bevel-tip needles based on path planning".ROBOTICA 36.12(2018):1857-1873.
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