Soft-tissue modeling and image-guided control of steerable needles.
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.
Sadati
Nasser
N
Electrical and Computer Engineering Department, The University of British Columbia, Kaiser 3054 - 2332 Main Mall, Vancouver, BC Canada. sadati@ece.ubc.ca
Torabi
Meysam
M
Vaziri
Reza
R
Dehestani-Ardekani
Reza
R
D000818:Animals; D001921:Brain / Q000033:anatomy & histology; D003198:Computer Simulation; D017143:Fuzzy Logic; D008954:Models, Biological; D009339:Needles; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000379:methods*; D013552:Swine