Shape Reconstruction and Attitude Estimation of Bevel-Tip Needle via CT-Guidance
文献类型：会议论文
| 作者 | Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达); Xu WL(徐卫良)
|
| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 |
| 会议日期 | December 6-9, 2015 |
| 会议地点 | Zhuhai, China |
| 页码 | 620-625 |
| 中文摘要 | The bevel-tip flexible needle is an improvement of the traditional rigid needle and has the potential to reduce traumas, improve the controllability and reach multi-targets in one insertion. The needle steering robot system has the ability to deal with complex puncture environment and to improve the puncture precision, but it requires a precise feedback of needle tip’s position and attitude. Computerized tomography (CT) is a widely available imaging system that provides precise and clear images. Unfortunately, CT is not a real-time system and it is impossible to fetch the attitude of bevel-tip needle from CT image. A new method is proposed to estimate the attitude, in which the unscented kalman filter is employed. We extract the positions of the needle in CT images, reconstruct the needle shape, calculate the control quantity according to the insert distance and then estimate the attitude of the needle tip. Simulations and experiments demonstrate that the method proposed is effective. Implementation of shape reconstruction and attitude estimation of the bevel-tip needle in biological tissue is a significant step toward the precise control of bevel-tip needles. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-9674-5 |
| WOS记录号 | WOS:000380476200104 |
| 源URL | [http://ir.sia.cn/handle/173321/17451]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Huo BY,Zhao XG,Han JD,et al. Shape Reconstruction and Attitude Estimation of Bevel-Tip Needle via CT-Guidance[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。