Nonholonomic modeling of needle steering
Nonholonomic modeling of needle steering
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DOI：
10.1177/0278364906065388
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发表时间：
2006-05-01
影响因子：
9.2
通讯作者：
Okamura, Allison M.
中科院分区：
文献类型：
--
作者：
Webster, Robert J., III;Kim, Jin Seob;Okamura, Allison M.
当带有斜角尖端的柔性针穿过软组织时，尖端的不对称性会导致针弯曲。我们提出，通过使用非完整运动学、控制和路径规划，一个设计恰当的针可以在组织中被引导以到达指定的三维目标。这种引导能力可以提高靶向精度，并可能改善经皮治疗的效果，促进治疗效果的研究，并最终实现新的微创技术。在本文中，我们考虑迈向主动针引导的第一步：具有斜角尖端的柔性针引导的非完整模型的设计和实验验证。该模型使用李群理论将标准的三自由度（DOF）非完整独轮车和自行车模型推广到6自由度。模型参数使用实验数据进行拟合，这些数据是通过一个专为插入和引导柔性针这一特定目的而设计的机器人设备获取的。这些实验定量地验证了斜角尖端针引导模型，为柔性针路径规划、控制和模拟的未来研究提供了可能。
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, control, and path planning, an appropriately designed needle can be steered through tissue to reach a specified 3D target. Such steering capability could enhance targeting accuracy and may improve outcomes for percutaneous therapies, facilitate research on therapy effectiveness, and eventually enable new minimally invasive techniques. In this paper we consider a first step toward active needle steering: design and experimental validation of a nonholonomic model for steering flexible needles with bevel tips. The model generalizes the standard three degree-of-freedom (DOF) nonholonomic unicycle and bicycle models to 6 DOF using Lie group theory. Model parameters are fit using experimental data, acquired via a robotic device designed for the specific purpose of inserting and steering a flexible needle. The experiments quantitatively validate the bevel-tip needle steering model, enabling future research in flexible needle path planning, control, and simulation.