Modeling and control of needles with torsional friction

IEEE Transactions on Biomedical Engineering

Volumn 56, Issue 12, 2009, Pages 2905-2916

  Reed, Kyle B ^a   Okamura, Allison M ^b   Cowan, Noah J ^b  

^a UNIVERSITY OF SOUTH FLORIDA   (United States)

^b Johns Hopkins University   (United States)

Author keywords

Biomechanics; Feedforward systems; Robots; Surgery

Indexed keywords

CLINICAL STUDY; CONVERGENCE TIME; ESTIMATOR-BASED CONTROLLERS; FEEDFORWARD SYSTEMS; FLEXIBLE NEEDLE; FRICTION FORCE; IMAGE-GUIDED; INSERTION DEPTH; MODELING AND CONTROL; NEEDLE INSERTION; NEEDLE SHAFT; NEEDLE STEERING; PATH PLANNERS; POOR PERFORMANCE; ROTATIONAL DYNAMICS; TIP ANGLE;

BIOMECHANICS; CONTROLLERS; EXPERIMENTS; FRICTION; MINING; SURGERY; TRIBOLOGY;

NEEDLES;

ANIMAL TISSUE; ARTICLE; DEPTH PERCEPTION; ERROR; FINITE ELEMENT ANALYSIS; FRICTION; MATHEMATICAL ANALYSIS; MECHANICAL TORSION; NEEDLE; NONHUMAN; PHANTOM; PUNCTURE; ROBOTICS; ROTATION; SIMULATION; SPATIAL ORIENTATION; TORQUE;

COMPUTER SIMULATION; COMPUTER-AIDED DESIGN; EQUIPMENT DESIGN; EQUIPMENT FAILURE ANALYSIS; FRICTION; MODELS, BIOLOGICAL; NEEDLES; PROSTHESIS IMPLANTATION; REPRODUCIBILITY OF RESULTS; ROBOTICS; SENSITIVITY AND SPECIFICITY; TORQUE;

EID: 72649091952     PISSN: 00189294     EISSN: None     Source Type: Journal    
DOI: 10.1109/TBME.2009.2029240     Document Type: Article

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