Automatic Steering of Manually Inserted Needles.
Automatic Steering of Manually Inserted Needles.
复制标题
手动插入针的自动转向。
DOI：
10.1109/smc.2013.257
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Riviere,CameronN
中科院分区：
文献类型：
--
作者：
Wu,Guofan;Li,Xiao;Lehocky,CraigA;Riviere,CameronN
斜面尖端柔性针可被机器人操纵以沿3D曲线路径沿着到达临床目标。手动针头插入允许临床医生控制插入速度，确保患者安全。本文提出了一种控制律，用于手动插入柔性针的自动3D转向，实现路径跟踪控制。提出了一种位置和姿态的前瞻比例控制器。先行距离是插入速度的线性函数。在3D类脑环境中的仿真证明了所提出的控制器的性能。实验结果也表明了该技术在2D和3D环境中的可行性。
Bevel-tipped flexible needles can be robotically steered to reach clinical targets along curvilinear paths in 3D. Manual needle insertion allows the clinician to control the insertion speed, ensuring patient safety. This paper presents a control law for automatic 3D steering of manually inserted flexible needles, enabling path-following control. A look-ahead proportional controller for position and orientation is presented. The look-ahead distance is a linear function of insertion speed. Simulations in a 3D brain-like environment demonstrate the performance of the proposed controller. Experimental results also show the feasibility of this technique in 2D and 3D environments.