Torsional dynamics compensation enhances robotic control of tip-steerable needles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 1601-1606

  Swensen, John P ^a   Cowan, Noah J ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AIR NAVIGATION; BIOLOGICAL ORGANS; DYNAMICS; ROBOTICS; STEREO IMAGE PROCESSING; TISSUE;

ARTIFICIAL TISSUES; CONTROL EXPERIMENTS; EXTENSIVE SIMULATIONS; MEDICAL INTERVENTION; ROBOTIC CONTROLS; STEERABLE NEEDLES; TIME-VARYING MODELS; TORSIONAL DYNAMICS;

NEEDLES;

EID: 84864445076     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6225262     Document Type: Conference Paper

References (18)

1. L. Chen and X. Yang. Transverse nonlinear dynamics of axially accelerating viscoelastic beams based on 4-term galerkin truncation. Chaos, Solitons & Fractals, 27(3):748-757, 2006.
2. N. J. Cowan, K. Goldberg, G. S. Chirikjian, G. Fichtinger, R. Alterovitz, K. B. Reed, V. Kallem, W. Park, S. Misra, and A. M. Okamura. Robotic needle steering: Design, modeling, planning, and image guidance. In J. Rosen, B. Hannaford, and R. Satava, editors, Surgical Robotics - Systems, Applications, and Visions, pages 557-582. Springer, 2011.
3. S. DiMaio and S. Salcudean. Needle insertion modeling and simulation. IEEE Trans. Robot. Automat., 19:864-875, 2003.
4. J. Engh, D. Minhas, D. Kondziolka, and C. Riviere. Percutaneous intracerebral navigation by duty-cycled spinning of flexible bevel-tipped needles. Neurosurgery, 67(4):1117, 2010.
5. D. Glozman and M. Shoham. Image-guided robotic flexible needle steering. Robotics, IEEE Transactions on, 23(3):459-467, 2007.
6. P. Holmes, J. Lumley, and G. Berkooz. Turbulence, coherent structures, dynamical systems and symmetry. Cambridge Univ Pr, 1998.
7. V. Kallem and N. J. Cowan. Image guidance of flexible tip-steerable needles. IEEE Trans. Robot., 25:191-196, 2009. NIHMS192987.
8. V. G. Mallapragada, N. Sarkar, and T. K. Podder. Robot-assisted real-time tumor manipulation for breast biopsy. IEEE Trans. Robot., 25(2):316-324, 2009.
9. S. Okazawa, R. Ebrahimi, J. Chuang, S. E. Salcudean, and R. Rohling. Hand-held steerable needle device. IEEE/ASME Trans. Mech., 10(3):285-296, 2005.
10. W. Park, K. B. Reed, A. M. Okamura, and G. S. Chirikjian. Estimation of model parameters for steerable needles. Proc. IEEE Int. Conf. Robot. Autom., pages 3703-3708, may. 2010.
11. K. B. Reed, A. Majewicz, V. Kallem, R. Alterovitz, K. Goldberg, N. J. Cowan, and A. M. Okamura. Robot-assisted needle steering. IEEE Robot. Autom. Mag., 18(4):35-46, Dec. 2011.
12. K. B. Reed, A. M. Okamura, and N. J. Cowan. Modeling and control of needles with torsional friction. IEEE Trans. Biomed. Eng., 56(12):2905-2916, Dec. 2009. NIHMS192959.
13. C. Rowley. Model reduction for fluids, using balanced proper orthogonal decomposition. International Journal of Bifurcation Chaos in Applied Sciences and Engineering, 15(3):997-1014, 2005.
14. K. Sze, S. Chen, and J. Huang. The incremental harmonic balance method for nonlinear vibration of axially moving beams. Journal of sound and vibration, 281(3-5):611-626, 2005.
15. L. Wang, Z. Hu, Z. Zhong, and J. Ju. Hamiltonian dynamic analysis of an axially translating beam featuring time-variant velocity. Acta Mechanica, 206(3):149-161, 2009.
16. 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., 25(5/6):509-526, May 2006.
17. T. Wedlick and A. Okamura. Characterization of pre-curved needles for steering in tissue. In Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE, pages 1200-1203, sept. 2009.
18. A. Wood. New method of treating neuralgia by the direct application of opiates to the painful points. Edin. Med. Surg. J., 82:265-281, 1855.