Torsional dynamics of steerable needles: modeling and fluoroscopic guidance.
Torsional dynamics of steerable needles: modeling and fluoroscopic guidance.
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DOI：
10.1109/tbme.2014.2326161
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发表时间：
2014-11
期刊：
影响因子：
--
通讯作者：
Cowan NJ
中科院分区：
文献类型：
--
作者：
Swensen JP;Lin M;Okamura AM;Cowan NJ
Needle insertions underlie a diversity of medical interventions. Steerable needles provide a means by which to enhance existing needle-based interventions and facilitate new ones. Tip-steerable needles follow a curved path and can be steered by twisting the needle base during insertion, but this twisting excites torsional dynamics that introduce a discrepancy between the base and tip twist angles. Here, we model the torsional dynamics of a flexible rod—such as a tip-steerable needle—during subsurface insertion and develop a new controller based on the model. The torsional model incorporates time-varying mode shapes to capture the changing boundary conditions inherent during insertion. Numerical simulations and physical experiments using two distinct setups—stereo camera feedback in semi-transparent artificial tissue and feedback control with real-time X-ray imaging in optically opaque artificial tissue— demonstrate the need to account for torsional dynamics in control of the needle tip.
