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A mechanics-based model for 3D steering of programmable bevel-tip needles
File | Description | Size | Format | |
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08572770.pdf | Published version | 4.25 MB | Adobe PDF | View/Open |
Title: | A mechanics-based model for 3D steering of programmable bevel-tip needles |
Authors: | Watts, TE Secoli, R Rodriguez y Baena, F |
Item Type: | Journal Article |
Abstract: | We present a model for the steering of programmable bevel-tip needles, along with a set of experiments demonstrating the 3D steering performance of a new, clinically viable, 4-segment, pre-production prototype. A multi-beam approach, based on Euler-Bernoulli beam theory, is used to model the novel multi-segment design of these needles. Finite element simulations for known loads are used to validate the multi-beam deflection model. A clinically sized (2.5 mm outer diameter), 4-segment programmable bevel-tip needle, manufactured by extrusion of a medical-grade polymer, is used to conduct an extensive set of experimental trials to evaluate the steering model. For the first time, we demonstrate the ability of the 4-segment needle design to steer in any direction with a maximum achievable curvature of 0.0192±0.0014 mm⁻¹. Finite element simulations confirm that the multi-beam approach produces a good model fit for tip deflections, with a root-mean-square deviation (RMSD) in modeled tip deflection of 0.2636 mm. We perform a parameter optimization to produce a best-fit steering model for the experimental trials, with a RMSD in curvature prediction of 1.12×10⁻³ mm⁻¹. |
Issue Date: | 1-Apr-2019 |
Date of Acceptance: | 2-Oct-2018 |
URI: | http://hdl.handle.net/10044/1/65206 |
DOI: | https://dx.doi.org/10.1109/TRO.2018.2879584 |
ISSN: | 1552-3098 |
Publisher: | Institute of Electrical and Electronics Engineers |
Start Page: | 371 |
End Page: | 386 |
Journal / Book Title: | IEEE Transactions on Robotics |
Volume: | 35 |
Issue: | 2 |
Sponsor/Funder: | Commission of the European Communities |
Funder's Grant Number: | 688279 |
Keywords: | 0801 Artificial Intelligence and Image Processing 0906 Electrical and Electronic Engineering 0913 Mechanical Engineering Industrial Engineering & Automation |
Publication Status: | Published |
Online Publication Date: | 2018-12-11 |
Appears in Collections: | Mechanical Engineering Faculty of Engineering |