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3-D path-following control for steerable needles with fiber Bragg gratings in multi-core fibers

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Title: 3-D path-following control for steerable needles with fiber Bragg gratings in multi-core fibers
Authors: Donder, A
Rodriguez y Baena, F
Item Type: Journal Article
Abstract: Steerable needles have the potential for accurate needle tip placement even when the optimal path to a target tissue is curvilinear, thanks to their ability to steer, which is an essen- tial function to avoid piercing through vital anatomical features. Autonomous path-following controllers for steerable needles have already been studied, however they remain challenging, especially because of the complexities associated to needle localization. In this context, the advent of fiber Bragg Grating (FBG)-inscribed multi-core fibers (MCFs) holds promise to overcome these diffi- culties. Objective: In this study, a closed-loop, 3-D path-following controller for steerable needles is presented. Methods: The control loop is closed via the feedback from FBG-inscribed MCFs embed- ded within the needle. The nonlinear guidance law, which is a well- known approach for path-following control of aerial vehicles, is used as the basis for the guidance method. To handle needle-tissue interactions, we propose using Active Disturbance Rejection Con- trol (ADRC) because of its robustness within hard-to-model en- vironments. We investigate both linear and nonlinear ADRC, and validate the approach with a Programmable Bevel-tip Steerable Needle (PBN) in both phantom tissue and ex vivo brain, with some of the experiments involving moving targets. Results: The mean, standard deviation, and maximum absolute position errors are observed to be 1.79 mm, 1.04 mm, and 5.84 mm, respectively, for 3-D, 120 mm deep, path-following experiments. Conclusion: MCFs with FBGs are a promising technology for autonomous steerable needle navigation, as demonstrated here on PBNs. Significance: FBGs in MCFs can be used to provide effective feedback in path- following controllers for steerable needles
Issue Date: 1-Mar-2023
Date of Acceptance: 13-Sep-2022
URI: http://hdl.handle.net/10044/1/99745
DOI: 10.1109/TBME.2022.3209149
ISSN: 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1072
End Page: 1085
Journal / Book Title: IEEE Transactions on Biomedical Engineering
Volume: 70
Issue: 3
Copyright Statement: © 2022 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.
Publication Status: Published
Online Publication Date: 2022-09-23
Appears in Collections:Mechanical Engineering
Institute of Global Health Innovation
Faculty of Engineering