Adaptive path-following control for bio-inspired steerable needles

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Title: Adaptive path-following control for bio-inspired steerable needles
Author(s): Secoli, R
Rodriguez y Baena, F
Item Type: Conference Paper
Abstract: Needle steering systems have shown potential ad- vantages in minimally invasive surgery in soft-tissue due to their ability to reach deep-seated targets while avoiding obstacles. In general, the control strategies employed to drive the insertion use simplified kinematic models, providing limited control of the trajectory between an entry site and a deep seated target in cases of unmodelled tissue-needle dynamics. In this work, we present the first Adaptive Path-Following (APF) controller for a bio-inspired multi-part needle, able to steer along three- dimensional (3D) paths within a compliant medium by means of the cyclical motion of interlocked segments and without the need for duty-cycle spinning along the insertion axis. The control strategy is outlined in two parts: a high-level con- troller, which provides driving commands to follow a predefined 3D path smoothly; and a low-level controller, able to counteract unmodelled tissue-needle nonlinearities and kinematic model uncertainties. A simulation that mimics the needle’s mechanical behavior during insertion is achieved by using an Experimental Fitting Model (EFM), obtained from previous experimental trials. The Simulation results demonstrate the robustness and adaptability of the proposed control strategy.
Publication Date: 28-Jul-2016
Date of Acceptance: 15-May-2016
Publisher: IEEE
Sponsor/Funder: Commission of the European Communities
Commission of the European Communities
Funder's Grant Number: 258642
Conference Name: 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Copyright Statement: © 2016 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.
Keywords: Science & Technology
Engineering, Biomedical
Publication Status: Published
Start Date: 2016-06-26
Finish Date: 2016-06-29
Conference Place: Singapore
Appears in Collections:Faculty of Engineering
Mechanical Engineering

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