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Authors: Xiao Li ; Craig A. Lehocky and Cameron N. Riviere

Affiliation: Carnegie Mellon University, United States

ISBN: 978-989-8565-71-6

Keyword(s): Medical Robotics, Path Planning, Path Tracking, Controls, Needle Steering, Surgical Simulation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing proportional control of trajectory curvature. This paper presents computationally efficient techniques for path planning and path-following control for this application, using a 3D simulated brain environment. Path planning algorithms for this class of steerable needles have been developed using Rapidly-exploring Random Trees (RRTs). This paper expands on these methods, using quaternions for representation of rotation, and enhancing computational efficiency through use of interpolation, and by relaxing the entry constraint. For path-following, a look-ahead proportional controller for position and orientation is presented. Simulations in a 3D brain-like environment demonstrate the performance of the proposed planner and path-following controller. The look-ahead is see n to improve path-following performance. (More)

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Paper citation in several formats:
Li, X.; A. Lehocky, C. and N. Riviere, C. (2013). Efficient 3D Control for Needle Steering using Duty-cycled Rotation.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 192-199. DOI: 10.5220/0004456501920199

@conference{icinco13,
author={Xiao Li. and Craig A. Lehocky. and Cameron N. Riviere.},
title={Efficient 3D Control for Needle Steering using Duty-cycled Rotation},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={192-199},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004456501920199},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Efficient 3D Control for Needle Steering using Duty-cycled Rotation
SN - 978-989-8565-71-6
AU - Li, X.
AU - A. Lehocky, C.
AU - N. Riviere, C.
PY - 2013
SP - 192
EP - 199
DO - 10.5220/0004456501920199

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