Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures
文献类型：期刊论文
| 作者 | Surender Hans; Felix Orlando Maria Joseph |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:1页码:244-256 |
| 关键词 | Minimal invasive surgery needle steering nonholonomic system robust control sliding mode control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2019.1911660 |
| 英文摘要 | In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching accuracy during needle steering inside the target organ. In this research work, the needle steering approach is determined using a robust control algorithm namely the integral sliding mode control (ISMC) strategy to eliminate the chattering problem associated with the general clinical scenario. In general, the discontinuity component of feedback control input is not appropriate for the needle steering methodology due to the practical limitations of the driving actuators. Thus in ISMC, we have incorporated the replacement of the discontinuous component using a super twisting control (STC) input due to its unique features of chattering elimination and disturbance observation characteristics. In our study, the kinematic model of an asymmetric flexible bevel-tip needle in a soft-tissue phantom is used to evaluate stability analysis. A comparative study based on the analysis of chattering elimination is executed to determine the performance of the proposed control strategy in real-time needle steering with conventional sliding mode control using vision feedback through simulation and experimental results. This validates the efficacy of the proposed control strategy for clinical needle steering. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42936]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Surender Hans,Felix Orlando Maria Joseph. Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(1):244-256. |
| APA | Surender Hans,&Felix Orlando Maria Joseph.(2020).Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures.IEEE/CAA Journal of Automatica Sinica,7(1),244-256. |
| MLA | Surender Hans,et al."Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures".IEEE/CAA Journal of Automatica Sinica 7.1(2020):244-256. |
入库方式： OAI收割
来源：自动化研究所
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