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Dynamics and Control of Needle Movement in Percutaneous Interaction with Prostate Tissue

Maghsoudi, Arash | 2012

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 43771 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Jahed, Mehran
  7. Abstract:
  8. In many modern medical procedures, needle insertion is an inevitable part of the diagnosis or treatment protocols. The accuracy of the needle insertion is adversely affected by a number of factors. A needle, frequently assumed to be flexible, is inserted into a soft tissue and induces complex mechanical interactions that may result in considerable uncertainties. Tissue intrinsic characteristics as well as its deformation and rotation may cause dramatic complexities. This work considers the needle movement inside the tissue from the dynamics and control point of view. The proposed approach can be regarded as an initial step towards automation of needle insertion procedures; it can also be adapted to diverse models of tissues with different mechanical properties. First, the rigid needle dynamics interacting with linear elastic tissue is derived. The undesired effect of uncertainty in tissue mechanical properties on system performance indices such as velocity smoothness and target reaching error is also investigated. Adaptive and robust controllers are also designed to overcome the problem of uncertainty in tissue parameters. Next, the proposed method is generalized to derive the flexible needle dynamics interacting with a viscoelastic tissue. A new approach is also proposed to feedback-linearize the needle tip and it is shown that the introduced control method can achieve an error of 0.7 millimeters in reaching the target
  9. Keywords:
  10. Finite Element Method ; Robust Control ; Viscoelastic Model ; Soft Tissues ; Adaptive Control ; Prostate ; Needle Dynamics

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