Sliding Mode Control of Steerable Needles.
Sliding Mode Control of Steerable Needles.
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DOI：
10.1109/tro.2013.2271098
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发表时间：
2013-10
期刊：
影响因子：
--
通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
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作者：
Rucker DC;Das J;Gilbert HB;Swaney PJ;Miga MI;Sarkar N;Webster RJ 3rd
只要能够根据医学图像信息对可操纵针头进行充分控制，可操纵针头就有可能提高基于针头的诊断和治疗的准确性。我们提出了一种新的滑模控制律，可用于将柔性非对称针尖的尖端传递到所需的点，或在组织内跟踪所需的轨迹。所提出的控制策略不需要先验的模型参数知识，具有有限的输入速度，并且需要很少的计算资源。我们证明，如果标准非完整模型的尖端转向针成立，那么控制律将收敛到期望的目标在一个可达的工作空间，在一个公差，可以由控制参数定义。实验结果验证了该方法在幻体组织和离体肝脏中目标点和轨迹跟踪的控制规律。在插入过程中移动目标的实验证明了对组织变形引起的干扰的鲁棒性。
Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy requires no a priori knowledge of model parameters, has bounded input speeds, and requires little computational resources. We show that if the standard nonholonomic model for tip-steered needles holds, then the control law will converge to desired targets in a reachable workspace, within a tolerance that can be defined by the control parameters. Experimental results validate the control law for target points and trajectory following in phantom tissue and ex vivo liver. Experiments with targets that move during insertion illustrate robustness to disturbances caused by tissue deformation.