Fuzzy Control of Percutaneous Needle Using Ultrasound Imaging-Based<br/>Trajectory Planning

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Fuzzy Control of Percutaneous Needle Using Ultrasound Imaging-Based
Trajectory Planning

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 56377 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Jahed, Mehran
Abstract:
Subcutaneous needle insertion is one of the key methods of limited invasive surgery in medical diagnosis and treatment. However, errors in needle targeting can reduce the effectiveness of such efforts. One of the main factors of errors is due to the human guidance of the needle, which many researches have approached in recent years, and among the suggested solutions is the use of automatic or semi-automatic assist systems. Considering the treatment of prostate cancer by brachytherapy method, this research has developed a semi-automatic physician assistance system using navigation based on the potential field method and ultrasound images of the needle location, and sliding mode fuzzy controller to guide the needle in the target path through the nonholonomic unicycle-like needle-tissue model. In this regard, at first, the path of guiding the needle is designed by avoiding collisions with sensitive areas, and then during the needle insertion, in case of an error, the path is corrected. The results of the simulations using the nonholonomic unicycle-like needle-tissue model showed that the trajectory tracking designed using the sliding mode fuzzy control is efficient
Keywords:
Fuzzy Control ; Needle Steering ; Prostate ; Brachytherapy ; Prostate Cancer ; Sliding Mode Control

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