Smooth on-line path planning for needle steering with non-linear constraints
| Autor: | Ferdinando Rodriguez y Baena, Christopher Burrows, Fangde Liu |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Technology
Engineering Science & Technology business.industry Robotics Angular velocity Deformation (meteorology) Curvature Tracking (particle physics) Computer Science Artificial Intelligence Displacement (vector) Computer Science Line (geometry) Computer vision Motion planning Artificial intelligence business |
| Zdroj: | IROS IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Popis: | Percutaneous intervention is a commonly used surgical procedure for many diagnostic and therapeutic operations. Target motion in soft tissue during an intervention caused by tissue deformation is a common problem, along with needle displacement. In this work, we present a deformation planner that generates continuous curvature paths with a bounded curvature derivative that can be used on-line to reach a moving target. This planner is computationally inexpensive and can be used for any robotic system, which has finite angular velocity, to reach a mobile target. The deformation planner, is integrated into a needle steering system using a novel, biologically inspired needle, STING, to track a simulated moving target. In-vitro results in gelatin demonstrate accurate 2D tracking of a moving target (mean 0.27 mm end positional error and 0.80° approach angle error) over 3 target movement rates. |
| Databáze: | OpenAIRE |
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