Closed-loop control of bevel-tip needles based on path planning

doi:10.1017/S0263574718000772

CORC > 金属研究所 > 中国科学院金属研究所

	Closed-loop control of bevel-tip needles based on path planning
	Huo, Benyan 1,2; Zhao, Xingang 2; Han, Jianda 2; Xu, Weiliang 3
刊名	ROBOTICA
	2018-12-01
卷号	36 期号:12 页码:1857-1873
关键词	Medical robotics Bevel-tip needle Particle swarm optimization Path planning UKF
ISSN号	0263-5747
DOI	10.1017/S0263574718000772
通讯作者	Huo, Benyan(huoby@zzu.edu.cn)
英文摘要	Bevel-tip needles have the potential to improve paracentetic precision and decrease paracentetic traumas. In order to drive bevel-tip needles precisely with the constrains of path length and path dangerousness, we propose a closed-loop control method that only requires the position of the needle tip and can be easily applied in a clinical setting. The control method is based on the path planning method proposed in this paper. To establish the closed-loop control method, a kinematic model of bevel-tip needles is first presented, and the relationship between the puncture path and controlled variables is established. Second, we transform the path planning method into a multi-objective optimization problem, which takes the path error, path length and path dangerousness into account. Multi-objective particle swarm optimization is employed to solve the optimization problem. Then, a control method based on path planning is presented. The current needle tip attitude is essential to plan an insertion path. We analyze two methods to obtain the tip attitude and compare their effects using both simulations and experiments. In the end, simulations and experiments in phantom tissue are executed and analyzed, the results show that our methods have high accuracy and have the ability to deal with the model parameter uncertainty.
资助项目	Nation Natural Science Foundation of China[61473265] ; Science and Technology Innovation Research Team Support Plan of Henan Province[17IRTSTHN013]
WOS研究方向	Robotics
语种	英语
出版者	CAMBRIDGE UNIV PRESS
WOS记录号	WOS:000448286700005
资助机构	Nation Natural Science Foundation of China ; Science and Technology Innovation Research Team Support Plan of Henan Province
内容类型	期刊论文
源URL	[http://ir.imr.ac.cn/handle/321006/130091]
专题	金属研究所_中国科学院金属研究所
通讯作者	Huo, Benyan
作者单位	1.Zhengzhou Univ, Sch Elect Engn, Zhengzhou, Henan, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Liaoning, Peoples R China 3.Univ Auckland, Auckland, New Zealand
推荐引用方式 GB/T 7714	Huo, Benyan,Zhao, Xingang,Han, Jianda,et al. Closed-loop control of bevel-tip needles based on path planning[J]. ROBOTICA,2018,36(12):1857-1873.
APA	Huo, Benyan,Zhao, Xingang,Han, Jianda,&Xu, Weiliang.(2018).Closed-loop control of bevel-tip needles based on path planning.ROBOTICA,36(12),1857-1873.
MLA	Huo, Benyan,et al."Closed-loop control of bevel-tip needles based on path planning".ROBOTICA 36.12(2018):1857-1873.