Kinematics modelling and dynamics analysis of an SMA-actuated active flexible needle for feedback-controlled manipulation in phantom.
Kinematics modelling and dynamics analysis of an SMA-actuated active flexible needle for feedback-controlled manipulation in phantom.
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DOI：
10.1016/j.medengphy.2022.103846
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发表时间：
2022-09
影响因子：
2.2
通讯作者：
Konh, Bardia
中科院分区：
文献类型：
--
作者：
Karimi, Saeed;Konh, Bardia
关键词：
基于经皮针的手术（例如前列腺近距离放射治疗）需要将针尖准确放置在目标位置。最近，机器人针插入系统已可帮助医生进行针引导和组织内部控制。在临床实践中使用医学成像技术获得针尖的准确实时位置通常具有挑战性。然而，这些信息对于组织内针的闭环控制至关重要。这项工作提出了一种 SMA 驱动的主动柔性针，可以在体模内部进行控制，无需位置传感器或医学成像设备。针尖位置反馈是利用嵌入式 SMA 线致动器的形状传感功能和针基部的力传感器来发现的。对三个模型进行了表征并用于实时估计针尖位置。然后在主动柔性针上测试控制方案，以跟踪体模中所需的三角形轨迹。结果表明，这项工作中提出的控制方案能够以合理的精度在该路径上操纵针。
Percutaneous needle-based procedures such as prostate brachytherapy demands for accurate placement of the needle tip at target locations. Recently, robotic needle insertion systems have been made available to help physicians in needle guidance and control inside tissue. It is often challenging to obtain an accurate and real-time position of the needle tip in clinical practice using medical imaging techniques. However, this information is vital for closed-loop control of the needles inside tissue. This work presents an SMA-actuated active flexible needle that could be controlled inside a phantom without a need for a position sensor or a medical imaging device. The needle tip position feedback is found using shape sensing capabilities of the embedded SMA-wire actuators and a force sensor at the needle base. Three models were characterized and used to estimate needle tip position in real time. The control scheme was then tested on the active flexible needle to track a desired triangular trajectory in a phantom. It was shown that the control scheme presented in this work was able to manipulate the needle in this path with a reasonable accuracy.
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DOI：
10.1109/tra.2003.817044
发表时间：
2003-10-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
DiMaio, SP;Salcudean, SE
通讯作者：
Salcudean, SE
影响因子：
2.2
作者：
Konh, Bardia;Honarvar, Mohammad;Hutapea, Parsaoran
通讯作者：
Hutapea, Parsaoran
DOI：
10.1016/j.msea.2007.02.162
发表时间：
2008-05-25
影响因子：
6.4
作者：
Novak, V.;Sittner, P.;Mahesh, K. K.
通讯作者：
Mahesh, K. K.
DOI：
10.1177/1045389x20919971
发表时间：
2020-06-03
影响因子：
2.7
作者：
Karimi, Saeed;Konh, Bardia
通讯作者：
Konh, Bardia
影响因子：
4.6
作者：
Ko, Seong Young;Rodriguez y Baena, Ferdinando
通讯作者：
Rodriguez y Baena, Ferdinando