Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues
文献类型：会议论文
| 作者 | Yang TW(杨唐文)4; Xiao, Lifang4; Chen PF(陈盼飞)4; Zhu, Haifeng4; Zhao XG(赵新刚)3 ; Song GL(宋国立)3; Han JD(韩建达)2; Xu WL(徐卫良)1
|
| 出版日期 | 2018 |
| 会议日期 | November 20-22, 2018 |
| 会议地点 | Stuttgart, Germany |
| 关键词 | robotic needle insertion force feedback control wavelet transform boundaries identification layered tissue |
| 页码 | 1-5 |
| 英文摘要 | In this study, a feedback control law is proposed to steer a robotic needle using force information from a fiber optic sensor. This sensor is integrated into the lumen at the distal end of the needle to measure the needle insertion force. The force signals are analyzed via wavelet transform to identify the boundaries of layered soft tissues in real time. The boundaries information is then used in the robotic needle steering scheme to reduce as much as possible the insertion force, and mitigate the risk of tissue injury. Porcine belly tissue phantoms are herein used in the ex vivo tests of robotic needle insertion, and comparative study has been done with and without insertion force feedback. Experimental results show that the force feedback control approach proposed reduces effectively the insertion force. |
| 产权排序 | 2 |
| 会议录 | Proceedings of the 2018 25th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2018
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-7544-1 |
| WOS记录号 | WOS:000459815100008 |
| 源URL | [http://ir.sia.cn/handle/173321/24239]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Yang TW(杨唐文) |
| 作者单位 | 1.Department of Mechnaical Engineering, University of Auckland, Auckland, New Zealand 2.College of Artificial Intelligence, Nankai Univeristy, Tianjin, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China 4.Institute of Information Science, Beijing Jiaotong University, Beijing, China |
| 推荐引用方式 GB/T 7714 | Yang TW,Xiao, Lifang,Chen PF,et al. Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues[C]. 见:. Stuttgart, Germany. November 20-22, 2018. |
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。