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A comparison of PD and model-based control of needle for medical procedures

Maghsoudi, A ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.1109/ISIE.2012.6237187
  3. Publisher: IEEE , 2012
  4. Abstract:
  5. In this paper, a model-based dynamics equation for the needle movement through the soft tissue is developed. A model-based control scheme which uses the force estimation calculated through the simulated tissue deformation data and the dynamic finite element as the tissue model is proposed. To compare the performance of the proposed controller, a PD controller is also used for the proposed needle dynamics equation. It is shown that even with uncertainty in model parameters; the mode-based controller outperforms the PD controller. Furthermore, although increasing the controller gain improves the performance of PD, but the model-based controller's performance is still superior
  6. Keywords:
  7. Model-based control and PD controller ; Tissue mechanical properties ; Controller gain ; Dynamic finite element ; Dynamics equation ; Force estimation ; Medical procedures ; Mode-based ; Model parameters ; Model-based control ; Model-based control schemes ; Model-based controller ; Needle insertion ; PD controllers ; Soft tissue ; Tissue deformations ; Tissue models ; Biomechanics ; Computer simulation ; Dynamics ; Industrial electronics ; Mechanical properties ; Needles ; Tissue ; Controllers
  8. Source: IEEE International Symposium on Industrial Electronics ; 2012 , Pages 780-785 ; 9781467301589 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6237187