Sliding-based image-guided 3D needle steering in soft tissue

被引：23
|
作者：
Fallahi, Bita [1 ]
Rossa, Carlos [1 ]
Sloboda, Ron S. [2 ,3 ]
Usmani, Nawaid [2 ,3 ]
Tavakoli, Mahdi [1 ]
机构：
[1] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 1H9, Canada
[2] Univ Alberta, Cross Canc Inst, Edmonton, AB T6G 1Z2, Canada
[3] Univ Alberta, Dept Oncol, Edmonton, AB T6G 1Z2, Canada
来源：
CONTROL ENGINEERING PRACTICE | 2017年 / 63卷
基金：
加拿大健康研究院; 加拿大自然科学与工程研究理事会;
关键词：
Medical robotics; Needle steering; 3D environment; Obstacle avoidance; Sliding mode control; MODE CONTROL; TRUS;
D O I：
10.1016/j.conengprac.2017.04.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a sliding-based method for steering beveled-tip needles in a 3D environment. The controller determines the needle roll angle using the needle tip position deviation, obtained from ultrasound images, and its first time derivative. The stability of the closed-loop system is analyzed using 3D unicycle model for the needle, as a result of which parameter constraints are derived. In this method the needle is steered by performing adjustments of needle orientation, which reduces the tissue trauma and injury. The performance of this method is verified by performing experiments using phantom tissue for environments with and without obstacles.
引用
收藏
页码：34 / 43
页数：10
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