Flexible tip-steerable needle control with tissue uncertainty
文献类型：会议论文
| 作者 | Zhao XG(赵新刚) ; Kong, Lingguo; Ye D(叶丹); Zhao YW(赵忆文); Wu ZW(吴镇炜)
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| 出版日期 | 2014 |
| 会议名称 | 26th Chinese Control and Decision Conference, CCDC 2014 |
| 会议日期 | May 31, 2014 - June 2, 2014 |
| 会议地点 | Changsha, China |
| 关键词 | Feedback linearization Needles State estimation Uncertainty analysis |
| 页码 | 4612-4616 |
| 中文摘要 | Accurate needle insertion into soft, inhomogeneous tissue is a critical aspect of many medical problems, such as the percutaneous diagnosis and therapies. In such procedures, the flexible tip-steerable needle with bevel tips can deflect during insertion and reach the target we set beforehand. In 2D motion planning, it's crucial to maintain the needle in a desired plane. However, the inhomogeneous and a sudden change of tissue during insertion, as well as the unmeasurable state variables, gives us a big problem to keep the needle tip in the desire plane accurately. In this paper, in order to reduce deflection of the needle from its path and to increase the accuracy of the needle tip placement, we use a feedback linearization scheme to realize the plane control based on a robust state observer, which can estimate the states of needle tip with tissue uncertainty. Simulation results are presented to illustrate the practicability of the scheme. © 2014 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 26th Chinese Control and Decision Conference, CCDC 2014
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-3706-6 |
| WOS记录号 | WOS:000343577704152 |
| 源URL | [http://ir.sia.cn/handle/173321/15161]  |
| 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 | Zhao XG,Kong, Lingguo,Ye D,et al. Flexible tip-steerable needle control with tissue uncertainty[C]. 见:26th Chinese Control and Decision Conference, CCDC 2014. Changsha, China. May 31, 2014 - June 2, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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