Sharif Digital Repository

In this paper the dynamics and control of the underactuated flexible needle will be discussed. To evaluate the dynamics of the needle, the study uses Saint Venant-Kirchhoff and finite element method. The model is validated using the experimental data provided in the literature. It is also shown that using iterative decomposition of the dynamics equation the unactuated degree of freedom of the needle tip can be feedback linearized. The effect of the control signal exerted on the tip is projected via iterative decomposition of the dynamics equation. The efficiency of the approach will be next explored through some examples  

In this paper, model-based and distrbance observer (DOB)-based control of needle in precautious applications are compared. In the model-based approach, the force acting on the needle is calculated by evaluating the finite element model (FEM) of the tissue with the tissue deformation. In DOB-based method, the force acting on the needle is considered as an external disturbance and it is estimated using position and velocity of the needle. In both approaches, the calculated/estimated force is used in a sliding mode control scheme to steer the needle to the target. A dynamics equation for the movement of the needle is proposed which includes the force applied by the tissue to the needle. The... 

In percutaneous applications, needle insertion into soft tissue is considered as a challenging procedure, and hence, it has been the subject of many recent studies. This study considers a model-based dynamics equation to evaluate the needle movement through prostate soft tissue. The proposed model estimates the applied force to the needle using the tissue deformation data and finite element model of the tissue. To address the role of mechanical properties of the soft tissue, an inverse dynamics control method based on sliding mode approach is used to demonstrate system performance in the presence of uncertainties. Furthermore, to deal with inaccurate estimation of mechanical parameters of... 

In recent years, there hass been a pronounced emphasis on percutaneous needle steering with the aid of advanced soft tissue modeling techniques. In this work an optical flow based motion estimation method is used to estimate the force applied to the needle by the soft tissue during percutaneous applications. The study considers Finite Element Model (FEM) of the tissue evaluated by the deformation data acquired through the optical flow method. To represent the soft tissue behavior, dynamic FEM with Rayleigh damping and viscoelastic models are used. The method is validated experimentally through offline evaluation of the ultrasonic images of the chicken breast punctured by a needle. The force...