3D-Path Simulation and Robust Control of Bevel-Tip Needles in Uncertain Model of Soft Tissues

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Abolpour, Roozbeh | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 52458 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Sadati, Naser; Ranjbar, Ali Mohammad
Abstract:
In this thesis, first we simulate the needle penetration in the soft tissues via finite element and adaptive finite elemet methods. Then, we design a proper controller for the model of tissue-needle interaction model considering some uncertain parameters and conditions in the needle-tisuue model. Needle penetration speed into the soft tissue and the applied force to needle are supposed to be the system’s inputs in the model. Deformations of tissue particles are modeled based on the tissue particles’ velocities through a set of equations. To solve these equations, numerical methods are used which are conceptually based on finite element methods. In the control step, the needle’s velocity and input force are properly manipulated to robustly control the needle penetration procedure
Keywords:
MESH ; Finite Element Method ; Compatible Control ; Soft Tissues ; Tissue Model ; Model Reference Adaptive Control

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