On the Controllability of Dynamic Model-Based Needle Insertion in Soft Tissue

被引：6
|
作者：
Haddadi, Amir [1 ]
Goksel, Orcun [2 ]
Salcudean, Septimiu E. [2 ]
Hashtrudi-Zaad, Keyvan [1 ]
机构：
[1] Queens Univ, Dept Elect & Comp Engn, Kingston, ON K7L 3N6, Canada
[2] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC, Canada
来源：
2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2010年
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1109/IEMBS.2010.5627676
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
Soft tissue needle guidance and steering for clinical applications has been an active topic of research in the past decade. Although dynamic feedback control of needle insertion systems is expected to provide more accurate target tracking, it has received little attention due to the fact that most available models for needle-tissue interaction do not incorporate the dynamics of motions. In this paper, we study the controllability of rigid or flexible needles inside soft tissues using mechanical-based dynamic models. The results have significant implications on the design of suitable feedback controllers for different types of needle insertion systems.
引用
收藏
页码：2287 / 2291
页数：5
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