Extended bicycle model for needle steering in soft tissue

IEEE International Conference on Intelligent Robots and Systems

Volumn 2015-December, Issue , 2015, Pages 4375-4380

  Fallahi, Bita ^a   Khadem, Mohsen ^a   Rossa, Carlos ^a   Sloboda, Ronald ^a   Usmani, Nawaid ^a   Tavakoli, Mahdi ^a  

^a UNIVERSITY OF ALBERTA   (Canada)

Author keywords

Bicycles; Biological system modeling; Biological tissues; Kinematics; Mathematical model; Needles; Wheels

Indexed keywords

BICYCLES; BIOLOGICAL SYSTEMS; INTELLIGENT ROBOTS; KINEMATICS; MATHEMATICAL MODELS; NEEDLES; WHEELS;

BIOLOGICAL SYSTEM MODELING; BIOLOGICAL TISSUES; CONSTANT CURVATURE; CONSTANT VELOCITIES; MODEL PARAMETERS; OMNIDIRECTIONAL WHEEL; ORTHOGONAL DIRECTIONS; TISSUE DEFORMATIONS;

TISSUE;

EID: 84958149762     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2015.7353998     Document Type: Conference Paper

References (11)

1. S. Misra, K. B. Reed, B. W. Schafer, K. Ramesh, and A. M. Okamura. Mechanics of fiexible needles robotically steered through soft tissue. The International journal of robotics research, 2010.
2. N. V. Datla, B. Konh, M. Honarvar, T. K. Podder, A. P. Dicker, Y. Yu, and P. Hutapea. A model to predict deffection of bevel-tipped active needle advancing in soft tissue. Medical engineering & physics, vol. 36, no. 3, pp. 285. 293, 2014.
3. E. Dehghan and S. E. Salcudean. Needle insertion parameter optimization for brachytherapy. Robotics, IEEE Transactions on, vol. 25, no. 2, pp. 303. 315, 2009.
4. R. Alterovitz, K. Goldberg, and A. Okamura. Planning for steerable bevel-tip needle insertion through 2d soft tissue with obstacles. in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. IEEE, 2005, pp. 1640. 1645.
5. S. P. DiMaio and S. E. Salcudean. Needle insertion modeling and simulation. Robotics and Automation, IEEE Transactions on, vol. 19, no. 5, pp. 864. 875, 2003.
6. A. Boroomand, M. Tavakoli, R. Sloboda, and N. Usmani. Dynamical modeling and controllability analysis of a fiexible needle in soft tissue. International Journal of Modeling, Simulation, and Scientific Computing, vol. 5, no. 02, 2014.
7. M. Khadem, B. Fallahi, C. Rossa, R. Sloboda, N. Usmani, and M. Tavakoli. A mechanics-based model for simulation and control of fiexible needle steering in soft tissue. in Robotics and Automa-tion, 2015. ICRA 2015. Proceedings of the 2015 IEEE International Conference on. IEEE, 2015.
8. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura, and G. S. Chirikjian. Diffusion-based motion planning for a nonholonomic fiexible needle model. in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. IEEE, 2005, pp. 4600. 4605.
9. D. C. Rucker, J. Das, H. B. Gilbert, P. J. Swaney, M. I. Miga, N. Sarkar, and R. J. Webster. Sliding mode control of steerable needles. 2013.
10. R. J. Webster, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura. Nonholonomic modeling of needle steering. The Interna-tional Journal of Robotics Research, vol. 25, no. 5-6, pp. 509. 525, 2006.
11. T. Lehmann, M. Tavakoli, N. Usmani, and R. Sloboda. Force-sensorbased estimation of needle tip deffection in brachytherapy. Journal of Sensors, vol. 2013, 2013.