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A comparison between disturbance observer-based and model-based control of needle in percutaneous applications

Maghsoudi, A ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.1109/IECON.2012.6388801
  3. Publisher: 2012
  4. Abstract:
  5. 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 results are evaluated through simulation and a dynamic finite element model is used to simulate the behavior of the soft tissue. It is shown that the performance of the model-based scheme in presence of the uncertainty in tissue mechanical properties is superior to that of DOB; however it introduces additional system complexity due to the usage of the tissue deformation
  6. Keywords:
  7. Finite element model ; Disturbance observer ; Dynamic finite element model ; Dynamics equation ; External disturbances ; Finite element models ; Model based approach ; Model-based control ; Needle control ; Percutaneous application ; Sliding modes ; Soft tissue ; System complexity ; Tissue deformations ; Biomechanics ; Finite element method ; Industrial electronics ; Mechanical properties ; Tissue ; Needles
  8. Source: IECON Proceedings (Industrial Electronics Conference), 25 October 2012 through 28 October 2012 ; October , 2012 , Pages 2104-2108 ; 9781467324212 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6388801