Automatic Steering of Manually Inserted Needles

Bevel-tipped flexible needles can be robotically steered to reach clinical targets along curvilinear paths in 3D. Manual needle insertion allows the clinician to control the insertion speed, ensuring patient safety. This paper presents a control law for automatic 3D steering of manually inserted fle...

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Bibliographic Details
Published in2013 IEEE International Conference on Systems, Man, and Cybernetics pp. 1488 - 1493
Main Authors Guofan Wu, Xiao Li, Lehocky, Craig A., Riviere, Cameron N.
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.01.2013
Subjects
Brain modeling
controls
Manuals
medical robotics
needle steering
Needles
path tracking
Robots
Three-dimensional displays
Trajectory
controls
path tracking
needle steering
medical robotics
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Summary:Bevel-tipped flexible needles can be robotically steered to reach clinical targets along curvilinear paths in 3D. Manual needle insertion allows the clinician to control the insertion speed, ensuring patient safety. This paper presents a control law for automatic 3D steering of manually inserted flexible needles, enabling path-following control. A look-ahead proportional controller for position and orientation is presented. The look-ahead distance is a linear function of insertion speed. Simulations in a 3D brain-like environment demonstrate the performance of the proposed controller. Experimental results also show the feasibility of this technique in 2D and 3D environments.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1062-922X
2577-1655
DOI:10.1109/SMC.2013.257