Smooth on-line path planning for needle steering with non-linear constraints
File(s)
Accepted version
Author(s)
Burrows, C
Liu, F
Rodriguez y Baena, F
Type
Conference Paper
Abstract
Percutaneous intervention is a commonly used surgical
procedure for many diagnostic and therapeutic operations.
Target motion in soft tissue during an intervention caused by
tissue deformation is a common problem, along with needle
displacement. In this work, we present a deformation planner
that generates continuous curvature paths with a bounded
curvature derivative that can be used on-line to reach a moving
target. This planner is computationally inexpensive and can be
used for any robotic system, which has finite angular velocity,
to reach a mobile target. The deformation planner, is integrated
into a needle steering system using a novel, biologically inspired
needle, STING, to track a simulated moving target. In-vitro
results in gelatin demonstrate accurate 2D tracking of a moving
target (mean 0.27 mm end positional error and 0.80◦
approach
angle error) over 3 target movement rates.
procedure for many diagnostic and therapeutic operations.
Target motion in soft tissue during an intervention caused by
tissue deformation is a common problem, along with needle
displacement. In this work, we present a deformation planner
that generates continuous curvature paths with a bounded
curvature derivative that can be used on-line to reach a moving
target. This planner is computationally inexpensive and can be
used for any robotic system, which has finite angular velocity,
to reach a mobile target. The deformation planner, is integrated
into a needle steering system using a novel, biologically inspired
needle, STING, to track a simulated moving target. In-vitro
results in gelatin demonstrate accurate 2D tracking of a moving
target (mean 0.27 mm end positional error and 0.80◦
approach
angle error) over 3 target movement rates.
Date Issued
2015-09-01
Date Acceptance
2015-09-01
Citation
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp.2653-2658
ISBN
978-1-4799-9994-1
ISSN
2153-0858
Publisher
IEEE
Start Page
2653
End Page
2658
Journal / Book Title
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement
© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Source
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subjects
Science & Technology
Technology
Computer Science, Artificial Intelligence
Robotics
Computer Science
Publication Status
Published
Start Date
2015-09-28
Finish Date
2015-10-02
Coverage Spatial
Hamburg, Germany