Closed-loop control of bevel-tip needles based on path planning
文献类型：期刊论文
| 作者 | Huo, Benyan2,3; Zhao, Xingang3; Han, Jianda3; Xu, Weiliang1 |
| 刊名 | ROBOTICA
 |
| 出版日期 | 2018-12-01 |
| 卷号 | 36期号:12页码:1857-1873 |
| 关键词 | Medical robotics Bevel-tip needle Particle swarm optimization Path planning UKF |
| ISSN号 | 0263-5747 |
| DOI | 10.1017/S0263574718000772 |
| 通讯作者 | Huo, Benyan(huoby@zzu.edu.cn) |
| 英文摘要 | 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. |
| 资助项目 | Nation Natural Science Foundation of China[61473265] ; Science and Technology Innovation Research Team Support Plan of Henan Province[17IRTSTHN013] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000448286700005 |
| 出版者 | CAMBRIDGE UNIV PRESS |
| 资助机构 | Nation Natural Science Foundation of China ; Science and Technology Innovation Research Team Support Plan of Henan Province |
| 源URL | [http://ir.imr.ac.cn/handle/321006/130091]  |
| 专题 | 金属研究所_中国科学院金属研究所 |
| 通讯作者 | Huo, Benyan |
| 作者单位 | 1.Univ Auckland, Auckland, New Zealand 2.Zhengzhou Univ, Sch Elect Engn, Zhengzhou, Henan, Peoples R China 3.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：金属研究所
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