title: Automatic Steering of Manually Inserted Needles.
abstract: Bevel-tipped flexible needles can be robotically steered to reach clinical targets along curvilinear paths in 3D. Manual needle insertion allows the clinician to control the insertion speed, ensuring patient safety. This paper presents a control law for automatic 3D steering of manually inserted flexible needles, enabling path-following control. A look-ahead proportional controller for position and orientation is presented. The look-ahead distance is a linear function of insertion speed. Simulations in a 3D brain-like environment demonstrate the performance of the proposed controller. Experimental results also show the feasibility of this technique in 2D and 3D environments.
authors.affiliation: Dept. of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Guofan
authors.initials: G
authors.lastname: Wu
authors.affiliation: Dept. of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Xiao
authors.initials: X
authors.lastname: Li
authors.affiliation: Dept. of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Craig A
authors.initials: CA
authors.lastname: Lehocky
authors.affiliation: The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
authors.forename: Cameron N
authors.initials: CN
authors.lastname: Riviere
keywords: controls; medical robotics; needle steering; path tracking
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