Deformation-as-Control for A Biologically Inspired Steerable Needle
| Autor: | Christopher Burrows, Fangde Liu, Ferdinando Rodriguez y Baena |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Tissue deformation Engineering Continuum (topology) business.industry Physics::Medical Physics Deformation theory Control engineering 02 engineering and technology Kinematics Deformation (meteorology) Computer Science::Robotics 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Nonholonomic robot Motion planning business |
| Zdroj: | ROBIO |
| DOI: | 10.1109/ROBIO.2013.6739568 |
| Popis: | STING, a biologically inspired steerable needle robot, has the potential to improve diagnostic and drug delivery therapies in neurosurgery. Real-time path planning for steerable needles remains challenging due to complex kinematic constraints and tissue deformation. Inspired by deformation theory, this paper introduces a “deformation-as-control” method for transforming non-linear path planning problems into linear formulations. Both theoretical analysis and simulations in two-and three-dimensional space confirm that the method is fast, robust, smooth and accurate. As a result, it can be used for real-time control of steerable needles to overcome tissue deformation, as well as being easily adaptable to other continuum style or nonholonomic robots. |
| Databáze: | OpenAIRE |
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