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Soft-tissue modeling and image-guided control of steerable needles

Sadati, N ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/IEMBS.2009.5333473
  3. Abstract:
  4. In this paper, we exploit a fuzzy controller on a flexible bevel-tip needle to manipulate the needle's base in order to steer its tip in a preset obstacle-free and target-tracking path. Although the needle tends to follow a curvature path, spinning the needle with an extremely high rotational velocity makes it symmetric with respect to the tissue to follow a straight path. The fuzzy controller determines an appropriate spinning to generate the planned trajectory and, the closed-loop system tries to match the needle body with that trajectory. The swine's brain tissue model, extracted from an in-vitro experimental setup, is a non-homogenous, uncertain and fast-updatable network to model real tissues, needle and their interactions providing the essential visual feedback for the control system. The simulation results illustrate a precise path tracking of the bevel-tip needle based on the fuzzy controller's commands with two degrees of freedom. ©2009 IEEE
  5. Keywords:
  6. Brain tissue models ; Experimental setup ; Fuzzy controllers ; Image-guided ; In-vitro ; Path tracking ; Rotational velocity ; Simulation result ; Soft tissue ; Two degrees of freedom ; Visual feedback ; Biology ; Needles ; Visual communication ; Controllers
  7. Source: Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 ; 2009 , Pages 5122-5125 ; 9781424432967 (ISBN)
  8. URL: http://ieeexplore.ieee.org/document/5333473/?reload=true