Closed-loop planar motion control of a steerable probe with a programmable bevel inspired by nature

IEEE Transactions on Robotics

Volumn 27, Issue 5, 2011, Pages 970-983

  Ko, Seong Young ^a   Frasson, Luca ^a   Rodriguez Y Baena, Ferdinando ^a  

^a IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

Biologically inspired robots; closed loop control; medical robots and systems; needle steering; nonholonomic motion planning

Indexed keywords

BIOLOGICALLY-INSPIRED ROBOTS; CLOSED-LOOP CONTROL; MEDICAL ROBOTS; NEEDLE STEERING; NONHOLONOMICS;

AUTOMOBILE STEERING EQUIPMENT; AUTOMOBILES; CLOSED LOOP CONTROL SYSTEMS; FEEDBACK LINEARIZATION; KINEMATICS; NEEDLES; PROBES; ROBOTS; TISSUE; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 80053632858     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2159411     Document Type: Article

References (41)

1. N. Abolhassani, R. Patel, and M. Moallem, "Needle insertion into soft tissue: A survey," Med. Eng. Phys., vol. 29, pp. 413-431, 2007. (Pubitemid 46074441)
2. S. P. DiMaio and S. E. Salcudean, "Needle steering and model-based trajectory planning," in Proc. Med. Image Comput. Comput.-Assisted Intervention, 2003, pp. 33-40.
3. D. Glozman and M. Shoham, "Flexible needle steering and optimal trajectory planning for percutaneous therapies," Lect. Notes Comput. Sci., vol. 3217, pp. 137-144, 2004. (Pubitemid 40787219)
4. P. E. Dupont, J. Lock, B. Itkowitz, and E. Butler, "Design and control of concentric-tube robots," IEEE Trans. Robot., vol. 26, no. 2, pp. 209-225, Apr. 2010.
5. D. C. Rucker, B. A. Jones, and R. J.Webster, III, "A model for concentric tube continuum robots under applied wrenches," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, 2010, pp. 1047-1052.
6. L. A. Lyons, R. J.Webster, III, and R. Alterovitz, "Planning active cannula configurations through tubular anatomy," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, 2010, pp. 2082-2087.
7. R. J.Webster, III, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, "Nonholonomic modeling of needle steering," Int. J. Robot. Res., vol. 25, pp. 509-525, May/Jun. 2006. (Pubitemid 43735586)
8. R. Alterovitz, M. Branicky, and K. Goldberg, "Motion planning under uncertainty for image-guided medical needle steering," Int. J. Robot. Res., vol. 27, pp. 1361-1374, Nov. 2008.
9. K. B. Reed, A. M. Okamura, and N. J. Cowan, "Modeling and control of needles with torsional friction," IEEE Trans. Biomed. Eng., vol. 56, no. 12, pp. 2905-2916, Dec. 2009.
10. V. Kallem and N. J. Cowan, "Image guidance of flexible tip-steerable needles," IEEE Trans. Robot., vol. 25, no. 1, pp. 191-196, Feb. 2009.
11. D. S. Minhas, J. A. Engh, M. M. Fenske, and C. N. Riviere, "Modeling of needle steering via duty-cycled spinning," in Proc. IEEE Eng. Med. Biol. Soc. 29th Annu. Int. Conf., Lyon, France, 2007, pp. 2756-2759.
12. D. Minhas, J. A. Engh, and C. N. Riviere, "Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro," in Proc. IEEE Eng. Med. Biol. Soc., Minneapolis, MN, 2009, pp. 258-261.
13. N. A. Wood, K. Shahrour, M. C. Ost, and C. N. Riviere, "Needle steering system using duty-cycled rotation for percutaneous kidney access," in Proc. IEEE Eng. Med. Biol. Soc. Int. Conf., Buenos Aires, Argentina, 2010, pp. 5432-5435.
14. K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura, and K. Goldberg, "Feedback control for steering needles through 3D deformable tissue using helical paths," presented at the Robotics: Sci. Syst. Conf., Seattle, WA, 2009.
15. D. Glozman and M. Shoham, "Image-guided robotic flexible needle steering," IEEE Trans. Robot., vol. 23, no. 3, pp. 459-467, Jun. 2007. (Pubitemid 47062022)
16. K. B. Reed,V.Kallem, R.Alterovitz, K. Goldberg,A.M.Okamura, and N. J. Cowan, "Integrated planning and image-guided control for planar needle steering," in Proc. IEEE/RAS-Eng. Med. Biol. Soc. Int. Conf. Biomed. Robot. Biomechatron., Scottsdale, AZ, 2008, pp. 819-824.
17. A. Majewicz, T. R.Wedlick, K. B. Reed, and A. M. Okamura, "Evaluation of robotic needle steering in ex vivo tissue," in Proc. IEEE Int. Conf. Robot. Autom., Anchorage, AK, 2010, pp. 2068-2073.
18. 4E. C. Burdette, D. C. Rucker, P. Prakash, C. J. Diederich, J. M. Croom, C. Clarke, P. Stolka, T. Juang, E. M. Boctor, and R. J. Webster, III, "The ACUSITT ultrasonic ablator: The first steerable needle with an integrated interventional tool," in Proc. SPIE, 2010, vol. 7629.
19. T. Parittotokkaporn, L. Frasson, A. Schneider, S. E. Huq, B. L. Davies, P. Degenaar, J. Biesenack, and F. M. Rodriguez y Baena, "Soft tissue traversal with zero net force: Feasibility study of a biologically inspired design based on reciprocal motion," in Proc. IEEE Int. Conf. Robot. Biomimetics, 2008, pp. 80-85.
20. L. Frasson, T. Parittotokkaporn, A. Schneider, B. L. Davies, J. F. V. Vincent, S. E. Huq, P. Degenaar, and F. M. Rodriguez y Baena, "Biologically inspired microtexturing: Investigation into the surface topography of next-generation neurosurgical probes," in Proc. IEEE Eng. Med. Biol. Soc. 30th Annu. Int. Conf., 2008, pp. 5611-5614.
21. L. Frasson, S. Y. Ko, A. Turner, T. Parittotokkaporn, J. F. Vincent, and F. Rodriguez y Baena, "STING: A soft-tissue intervention and neurosurgical guide to access deep brain lesions through curved trajectories," Proc. Inst. Mech. Eng., Part H: J. Eng. Med., vol. 224, pp. 775-788, 2010.
22. L. Frasson, S. Reina, B. L. Davies, and F. M. Rodriguez y Baena, "Design optimization of a biologically inspired multi-part probe for soft tissue surgery," in Proc. 11th Int. Congr. IUPESM, Med. Phys. Biomed. Eng., Munich, Germany, 2009, pp. 307-310.
23. S. Y. Ko, B. L. Davies, and F. Rodriguez y Baena, "Two-dimensional needle steeringwith a "programmable bevel" inspired by nature:Modeling preliminaries," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Taipei, Taiwan, 2010, pp. 2319-2324.
24. L. Vilhelmsen, N. Isidoro, R. Romani, H. H. Basibuyuk, and D. L. Quicke, "Host location and oviposition in a basal group of parasitic wasps: The subgenual organ, ovipositor apparatus and associated structures in the Orussidae (Hymenoptera, Insecta)," Zoomorphol., vol. 121, pp. 63-84, 2001. (Pubitemid 33359720)
25. J. F. V. Vincent and M. J. Kin, "The mechanism of drilling by wood wasp ovipositors," Biomimetics, vol. 3, pp. 187-201, 1995.
26. D. L. J. Quicke and M. G. Fitton, "Ovipositor steeringmechanisms in parasitic wasps of the families Gasteruptiidae and Aulacidae (Hymenoptera)," Proc. R. Soc. B-Biol. Sci., vol. 261, pp. 99-103, 1995.
27. D. L. Quicke, A. L. Ralec, and L. Vilhelmsen, "Ovipositor structure and function in the parasitic Hymenopterawith an exploration of newhypotheses," Atti della Accademia Nazionale Italiana di Entomologia Rendiconti, vol. 47, pp. 197-239, 1999.
28. M. Oldfield, D. Dini, and F. Rodriguez y Baena, "Detailed finite element simulations of probe insertion into solid elastic material using a cohesive zone approach," in Proc. Int. Conf. IEEE Eng. Med. Biol. Soc., Buenos Aires, Argentina, 2010, pp. 3198-3201.
29. A. De Luca, G. Oriolo, and C. Samson, "Feedback control of a nonholonomic car-like robot," in Robot Motion Planning Control, J. P. Laumond, Ed. New York: Springer-Verlag, 1998, pp. 172-253.
30. E. J. Hearn, Mechanics of Materials 1: An Introduction of the Mechanics of Elastic and Plastic Deformation of Solids and StructuralMaterials, 3rd ed. Oxford, U.K.: Butterworth-Heinemann, 1997.
31. R. M. Murray and S. S. Sastry, "Nonholonomic motion planning: Steering using sinusoids," IEEE Trans. Automat. Control, vol. 38, no. 5, pp. 700- 716, May 1993. (Pubitemid 23706281)
32. C. Samson, "Control of chained systems application to path following and time-varying point-stabilization of mobile robots," IEEE Trans. Automat. Control, vol. 40, no. 1, pp. 64-77, Jan. 1995.
33. B. d'Andréa-Novel, G. Campion, and G. Bastin, "Control of nonholonomic wheeled mobile robots by state feedback linearization," Int. J. Robot. Res., vol. 14, pp. 543-559, 1995.
34. J.-M. Yang and J.-H. Kim, "Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots," IEEE Trans. Robot. Automat., vol. 15, no. 3, pp. 578-587, Jun. 1999.
35. R. S. Sharp, "Optimal linear time-invariant preview steering control for motorcycles," Veh. Syst. Dyn., vol. 44 (suppl.), pp. 329-340, 2006.
36. Y. Tan, Z. Jiang, and Z. Zhou, "A nonholonomic motion planning and control based on chained form transformation," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Beijing, China, 2006, pp. 3149-3153. (Pubitemid 46928387)
37. Northern Digital, Inc. (2010, Feb. 19). [Online]. Available: http://www. ndigital.com/
38. D. K. Binder, G. M. Rau, and P.A. Starr, "Risk factors for hemorrhage during microelectrode-guided deep brain stimulator implantation for movement disorders," Neurosurgery, vol. 56, pp. 722-732, Apr. 2005.
39. M. A. Meltsner, N. J. Ferrier, and B. R. Thomadsen, "Observations on rotating needle insertions using a brachytherapy robot," Phys. Med. Biol., vol. 52, pp. 6027-6037, 2007. (Pubitemid 47485430)
40. J.-S. He, X.-M. Wang, S.-C. Chen, W.-C. Chen, S.-F. Huang, Y.-H. Liu, J.-T. Zhang, Z.-Y. Li, W.-Z. Liu, and H. Guan, "Evaluation on pathologic status of the residual lesions after ultrasound-guided, 8-gauge vacuumassisted mammotomeR system biopsy for nonpalpable malignant breast lesions and its influencing factors," Sci. Res. Essays, vol. 5, pp. 3467- 3473, 2010.
41. C. L. Rajak, S. Gupta, S. Jain, Y. Chawla, M. Gulati, and S. Suri, "Percutaneous treatment of liver abscesses: Needle aspiration versus catheter drainage," Amer. J. Roentgenol., vol. 170, pp. 1035-1039, Apr. 1998. (Pubitemid 28172894)