Integrated Planning and Image-Guided Control for Planar Needle Steering.
Integrated Planning and Image-Guided Control for Planar Needle Steering.
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DOI：
10.1109/biorob.2008.4762833
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发表时间：
2008-10-19
期刊：
影响因子：
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通讯作者：
Cowan NJ
中科院分区：
文献类型：
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作者：
Reed KB;Kallem V;Alterovitz R;Goldberg K;Okamura AM;Cowan NJ
灵活、尖端可操纵的针头有望提高医生准确到达目标和在人体内机动的能力，同时最大限度地减少患者创伤。在这里，我们提出了一个功能性的针转向系统，它集成了两个组件：（1）患者特定的2D术前和术中规划器，它可以在组织的平面切片（随机运动路线图）内找到到达目标的可实现路线，以及（2）低级别的图像引导反馈控制器，它可以将针尖保持在该切片内。规划器生成一系列圆弧，这些圆弧可以通过将针轴的180°旋转与纯插入交错来实现。该预先计划的序列定期实时更新。同时，低级基于图像的控制器伺服针以在计划更新之间保持接近期望平面。规划器和控制器的预测在以前开发的运动学非完整模型的斜面尖端针转向。我们在这里使用略微不同的针，其在尖端附近具有小的弯曲，因此我们扩展模型以考虑由180°旋转引起的尖端位置的不连续性。此外，在针基部的大旋转期间，我们通过补偿针杆中的扭转顺应性来保持期望的尖端角度，这在先前的针转向工作中被忽略。通过整合规划，控制和扭转补偿，我们展示了准确的瞄准和避障。
Flexible, tip-steerable needles promise to enhance physicians’ abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intra-operative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180° rotations of the needle shaft. This preplanned sequence is updated in realtime at regular intervals. Concurrently, the low-level image-based controller servos the needle to remain close to the desired plane between plan updates. Both planner and controller are predicated on a previously developed kinematic nonholonomic model of bevel-tip needle steering. We use slighly different needles here that have a small bend near the tip, so we extend the model to account for discontinuities of the tip position caused by 180° rotations. Further, during large rotations of the needle base, we maintain the desired tip angle by compensating for torsional compliance in the needle shaft, neglected in previous needle steering work. By integrating planning, control, and torsion compensation, we demonstrate both accurate targeting and obstacle avoidance.