基于可达性决策的柔性针穿刺控制方法
A control method for puncture with flexible needle based on reachable decision
查看参考文献24篇
|
文摘
|
穿刺术具有创口小、恢复快的优势,是一种广泛使用的微创手术.柔性针穿刺是对传统穿刺术的改进.本文首先分析柔性针运动学模型,使用无色卡尔曼滤波(unscented Kalman filter, UKF)对穿刺过程中柔性针针尖位置和姿态进行估计.然后根据柔性针的运动学特点提出一种基于柔性针可达范围的控制方法,分析控制系数对穿刺轨迹的影响,并通过仿真和明胶穿刺实验验证该控制方法的效果.在穿刺深度为100mm的情况下,本文提出的控制方法能够将穿剌误差保持在0.5 mm以下.仿真实验也表明当模型参数与实际值的误差在一定范围内时,该控制方法仍能够实现高精度的穿刺. |
|
其他语种文摘
|
Because of the tiny trauma and rapid recovery, punctures have been widely adopted in clinics. The flexible needle is an improvement of the traditional steel needle. We firstly build the kinematic model of a flexible needle and use unscented Kalman filter (UKF) to estimate the states of the flexible needle tip. Then, a control method based on the reachable region of flexible needle is developed according to the characteristic of the kinematic model of the flexible needle. We analyze the reachable parameter's effect on the puncture trail. Simulations and gelatin puncture tests show that this control method is precise and robust. The tip error will be confined to 0.5 mm when the insert distance is 100 mm. Simulation results also indicate that the control method can achieve high-precision puncture when the error between the model parameter and actual value is within a certain range. |
|
来源
|
控制理论与应用
,2014,31(10):1423-1430 【核心库】
|
|
DOI
|
10.7641/cta.2014.40047
|
|
关键词
|
非线性系统
;
柔性针
;
穿刺术
;
无色卡尔曼滤波
|
|
地址
|
中国科学院沈阳自动化研究所, 辽宁, 沈阳, 110016
|
|
语种
|
中文 |
|
文献类型
|
研究性论文 |
|
ISSN
|
1000-8152 |
|
学科
|
自动化技术、计算机技术 |
|
基金
|
国家自然科学基金资助项目
|
|
文献收藏号
|
CSCD:5288618
|
参考文献 共
24
共2页
|
|
1.
Robert W.
Nonholonomic Modeling of Needle Steering,2006:35-44
|
被引
1
次
|
|
|
|
|
2.
Park W. Diffusion-based motion planning for a nonholonomic flexible needle model.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation,2005:4600-4605
|
被引
4
次
|
|
|
|
|
3.
Park W. Estimation of model parameters for steerable needles.
Proceedings of the 2010 IEEE International Conference on Robotics and Automation,2010:3703-3708
|
被引
2
次
|
|
|
|
|
4.
赵燕江. 柔性针的运动学建模及实验研究.
机器人,2010,32(5):666-673
|
被引
7
次
|
|
|
|
|
5.
Reed K B. Modeling and control of needles with torsional friction.
IEEE Transactions on Biomedical Engineering,2009,56(12):2905-2916
|
被引
2
次
|
|
|
|
|
6.
Reed K B. Controlling a robotically steered needle in the presence of torsional friction.
IEEE International Conference on Robotics and Automation,2011:3476-3481
|
被引
1
次
|
|
|
|
|
7.
Wood N A. Needle steering system using duty-cycled rotation for percutaneous kidney access.
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society,2010:5432-5435
|
被引
1
次
|
|
|
|
|
8.
Lehocky C A. Needle insertion with duty-cycled rotation into multiple media.
2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC),2012:916-919
|
被引
1
次
|
|
|
|
|
9.
Wood N A. Algorithm for threedimensional control of needle steering via duty-cycled rotation.
IEEE International Conference on Mechatronics (ICM),2013:237-241
|
被引
1
次
|
|
|
|
|
10.
Misra S. Observations and models for needle-tissue interactions.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation,2009:2687-2692
|
被引
2
次
|
|
|
|
|
11.
Goksel O. Modeling and simulation of flexible needles.
Medical Engineering & Physics,2009,31(9):1069-1078
|
被引
4
次
|
|
|
|
|
12.
Asadian A. An analytical model for deflection of flexible needles during needle insertion.
112011 IEEE/RSJ International Conference on Intelligent Robots and Systems,2011:2551-2556
|
被引
1
次
|
|
|
|
|
13.
Asadian A. A distributed model for needle-tissue friction in percutaneous interventions.
IEEE International Conference on Robotics and Automation, ICRA 2011,2011:1896-1901
|
被引
1
次
|
|
|
|
|
14.
Dong W. The tip interface mechanics modeling of a bevel-tip flexible needle insertion.
2012 International Conference on Mechatronics and Automation (ICMA),2012:581-586
|
被引
1
次
|
|
|
|
|
15.
Roesthuuis R J. Mechanics-based model for predicting in-plane needle deflection with multiple bends.
The 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012,2012:69-74
|
被引
1
次
|
|
|
|
|
16.
Abayazid M. Integrating deflection models and image feedback for real-time flexible needle steering.
IEEE Transactions on Robotics,2013,29(2):542-553
|
被引
3
次
|
|
|
|
|
17.
Kallem V. Image guidance of flexible tip-steerable needles.
IEEE Transactions on Robotics,2009,25(1):191-196
|
被引
5
次
|
|
|
|
|
18.
Motaharifar M. Adaptive observer-based controller design for a class of nonlinear systems with application to image guided control of steerable needles.
American Control Conference (ACC),2012:4849-4854
|
被引
1
次
|
|
|
|
|
19.
Bernardes M C. Robotassisted automatic insertion of steerable needles with closedloop imaging feedback and intraoperative trajectory replanning.
Mechatronics,2013,23(6):549-738
|
被引
2
次
|
|
|
|
|
20.
Hauser K. Feedback control for steering needles through 3d deformable tissue using helical paths.
Robotics Science and Systems: Online Proceedings,2009,37(1):1-5
|
被引
1
次
|
|
|
|
|
了解气象卫星更多信息，请访问