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Needle dynamics modelling and control in prostate brachytherapy

Maghsoudi, A ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.1049/iet-cta.2011.0449
  3. Publisher: 2012
  4. Abstract:
  5. Although 'Needle steering' is considered a challenge in needle insertion strategies, needle control becomes a crucial training tool for evaluating surgeon's skills in such critical incision. In this study, a model-based dynamics equation for the needle movement through the soft tissue is developed. In the proposed control scheme, the force estimation calculated through the simulated tissue deformation data and the dynamic finite element as the tissue model, is used as the force feedback. To point out the role of mechanical properties of the soft tissue, an inverse dynamics control method is used to demonstrate the system performance in presence of uncertainty in tissue mechanical parameters. Moreover, it is shown that the uncertainty in the tissue mechanical parameters dramatically affects the system performance as well as causing instability. Hence subsequently, a robust control approach is designed to compensate for the undesirable effect of parameter uncertainty in the system
  6. Keywords:
  7. Control approach ; Control schemes ; Dynamic finite element ; Dynamics equation ; Dynamics modelling ; Force estimation ; Force feedback ; Inverse dynamics control ; Mechanical parameters ; Needle control ; Needle insertion ; Needle steering ; Prostate brachytherapy ; Soft tissue ; Tissue deformations ; Tissue models ; Training tools ; Undesirable effects ; Computer simulation ; Dynamics ; Mechanical properties ; Needles ; Robust control ; Tissue ; Biomechanics
  8. Source: IET Control Theory and Applications ; Volume 6, Issue 11 , July , 2012 , Pages 1671-1681 ; 17518644 (ISSN)
  9. URL: http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6336893&url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F4079545%2F6336881%2F06336893.pdf%3Farnumber%3D6336893