Dynamical modeling and controllability analysis of a flexible needle in soft tissue

作     者：Arefeh Boroomand Mahdi Tavakoli Ron Sloboda Nawaid Usmani 

作者机构：Department of Electrical and Computer Engineering University of AlbertaEdmontonABCanada T6G 2V4 Department of Medical PhysicsCross Cancer Institute 11560 University AvenueEdmontonABCanada T6G 1Z2 Department of Radiation OncologyCross Cancer Institute 11560 University AvenueEdmontonABCanada T6G 1Z2 

出 版 物：《International Journal of Modeling, Simulation, and Scientific Computing》 (建模、仿真和科学计算国际期刊（英文）)

年 卷 期：2014年第5卷第2期

页      面：130-157页

核心收录：

学科分类：1006[医学-中西医结合] 1005[医学-中医学] 100502[医学-中医临床基础] 100602[医学-中西医结合临床] 10[医学] 

基　　金：supported in part by the Natural Sciences and Engineering Research Council(NSERC)of Canada 

主　　题：Dynamic modeling controllability flexible needle 

摘      要：This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue,where the model’s output is the needle *** main advantages of the proposed dynamic modeling approach are that the presented model structure involves parameters that are all measurable or identifiable by simple exper-iments and that it considers the same inputs that are currently used in the clinical practice of manual needle *** manual needle insertion suffers from the fact that flexible needles bend during insertion and their trajectories often vary from those planned,resulting in positioning *** of needle insertion accuracy via robot-assisted needle steering has received significant attention in the past decade.A common assumption in previous research has been that the needle behavior during insertion can be adequately described by static models relating the needle’s forces and torques to its *** closed-loop control purposes,however,a dynamic model of the flexible needle in soft tissue is *** this paper,we propose a Lagrangian-based dynamic model for the coupled needle/tissue system,and analyze the response of the dynamic ***(controllability)analysis is also performed,which is only possible with a dynamic *** proposed dynamic model can serve as a cornerstone of future research into designing dynamics-based control strategies for closed-loop needle steering in soft tissue aimed at minimizing position error.