| Closed-loop control of bevel-tip needles based on path planning | |
| Huo, Benyan1,2; Zhao, Xingang2; Han, Jianda2; Xu, Weiliang3 | |
| Corresponding Author | Huo, Benyan(huoby@zzu.edu.cn) |
| 2018-12-01 | |
| Source Publication | ROBOTICA
 |
| ISSN | 0263-5747 |
| Volume | 36Issue:12Pages:1857-1873 |
| Abstract | Bevel-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. |
| Keyword | Medical robotics Bevel-tip needle Particle swarm optimization Path planning UKF |
| Funding Organization | Nation Natural Science Foundation of China ; Science and Technology Innovation Research Team Support Plan of Henan Province |
| DOI | 10.1017/S0263574718000772 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | Nation Natural Science Foundation of China[61473265] ; Science and Technology Innovation Research Team Support Plan of Henan Province[17IRTSTHN013] |
| WOS Research Area | Robotics |
| WOS Subject | Robotics |
| WOS ID | WOS:000448286700005 |
| Publisher | CAMBRIDGE UNIV PRESS |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/130092 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Huo, Benyan |
| Affiliation | 1.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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