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

International Journal of Modeling, Simulation, and Scientific Computing 2014年第2期5卷 130-157页

作者： Arefeh Boroomand Mahdi Tavakoli Ron Sloboda Nawaid Usmani Department of Electrical and Computer Engineering University of Alberta EdmontonABCanada T6G 2V4 Department of Medical Physics Cross Cancer Institute 11560 University AvenueEdmontonABCanada T6G 1Z2 Department of Radiation Oncology Cross Cancer Institute 11560 University AvenueEdmontonABCanada T6G 1Z2

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.

关键词： Dynamic modeling controllability flexible needle

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flexible Tip-Steerable needle Control with Tissue Uncertainty

Flexible Tip-Steerable Needle Control with Tissue Uncertaint...

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第26届中国控制与决策会议

作者： Xingang Zhao Lingguo Kong Dan Ye Yiwen Zhao Zhenwei Wu State Key Laboratory of Robotics Shenyang Institute of AutomationCAS College of Information Science and Engineering Northeastern University

Accurate needle insertion into soft, inhomogeneous tissue is a critical aspect of many medical problems, such as the percutaneous diagnosis and therapies. In such procedures, the flexible tip-steerable needle with bevel tips can deflect during insertion and reach the target we set beforehand. In 2D motion planning, it’s crucial to maintain the needle in a desired plane. However, the inhomogeneous and a sudden change of tissue during insertion, as well as the unmeasurable state variables, gives us a big problem to keep the needle tip in the desire plane accurately. In this paper, in order to reduce deflection of the needle from its path and to increase the accuracy of the needle tip placement, we use a feedback linearization scheme to realize the plane control based on a robust state observer, which can estimate the states of needle tip with tissue uncertainty. Simulation results are presented to illustrate the practicability of the scheme.

关键词： flexible needle Parameter uncertainty Feedback linearization Robust state observer

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