Position Control of Needle Tip Based on Physical Properties of Liver and Force Sensor

2006 ◽  
Vol 18 (2) ◽  
pp. 167-176 ◽  
Author(s):  
Yo Kobayashi ◽  
◽  
Jun Okamoto ◽  
Masakatsu G. Fujie ◽  
Keyword(s):  
Robot Control ◽  
Position Control ◽  
Force Sensor ◽  
Needle Insertion ◽  
Experimental Result ◽  
Medical Procedures ◽  
Needle Deflection ◽  
Model Based ◽  
Liver Model ◽  
Organ Model

Medical procedures such as RFA and cryosurgery require needle insertion, which is difficult because it can easily result in organs being deformed and displaced. In addition, Because deflection occurs more easily with thin needles, needle deflection must be considered. We developed an intelligent robot for needle insertion, incorporating visual feedback, force control, and organ-model-based control. Two experiments were evaluating hepatic properties for organ-model-based robot control. And a dynamic viscoelastic test was done to show dynamic hepatic properties as a differential equation. Their nonlinearity was supported by a creep test. And, this paper shows the deflection correction with (a) the force sensor only, (b) liver model only, (c) both force sensor and liver model is done to control the position of the needle tip. The experimental result shows that using (c) gives optimal effectiveness among the proposed approaches.

scholarly journals Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Thomas Lehmann ◽  
Mahdi Tavakoli ◽  
Nawaid Usmani ◽  
Ronald Sloboda
Keyword(s):  
Force Sensor ◽  
Needle Insertion ◽  
Interstitial Brachytherapy ◽  
Control Technique ◽  
Torque Sensor ◽  
Treatment Efficiency ◽  
Treatment Procedure ◽  
Virtual Sensor ◽  
Needle Deflection ◽  
Mechanical Models

A virtual sensor is developed for the online estimation of needle tip deflection during permanent interstitial brachytherapy needle insertion. Permanent interstitial brachytherapy is an effective, minimally invasive, and patient friendly cancer treatment procedure. The deflection of the needles used in the procedure, however, undermines the treatment efficiency and, therefore, needs to be minimized. Any feedback control technique to minimize the needle deflection will require feedback of this quantity, which is not easy to provide. The proposed virtual sensor for needle deflection incorporates a force/torque sensor, mounted at the base of the needle that always remains outside the patient. The measured forces/torques are used by a mathematical model, developed based on mechanical needle properties. The resulting estimation of tip deflection in real time during needle insertion is the main contribution of this paper. The proposed approach solely relies on the measured forces and torques without a need for any other invasive/noninvasive sensing devices. A few mechanical models have been introduced previously regarding the way the forces are composed along the needle during insertion; we will compare our model to those approaches in terms of accuracy. In order to conduct experiments to verify the deflection model, a custom-built, 2-DOF robotic system for needle insertion is developed and discussed. This system is a prototype of an intelligent, hand-held surgical assistant tool that incorporates the virtual sensor proposed in this paper.

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

2016 ◽  
Author(s):  
Stephen Mascaro
Keyword(s):  
Robot Control ◽  
Inverse Dynamics ◽  
Position Control ◽  
Sliding Mode ◽  
Feedforward Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Force Sensor ◽  
Control Techniques ◽  
Serial Robot

This paper describes a modular 2-DOF serial robot manipulator and accompanying experiments that have been developed to introduce students to the fundamentals of robot control. The robot is designed to be safe and simple to use, and to have just enough complexity (in terms of nonlinear dynamics) that it can be used to showcase and compare the performance of a variety of textbook robot control techniques including computed torque feedforward control, inverse dynamics control, robust sliding-mode control, and adaptive control. These various motion control schemes can be easily implemented in joint space or operational space using a MATLAB/Simulink real-time interface. By adding a simple 2-DOF force sensor to the end-effector, the robot can also be used to showcase a variety of force control techniques including impedance control, admittance control, and hybrid force/position control. The 2-DOF robots can also be used in pairs to demonstrate control architectures for multi-arm coordination and master/slave teleoperation. This paper will describe the 2-DOF robot and control hardware/software, illustrate the spectrum of robot control methods that can be implemented, and show sample results from these experiments.

Estimation Equation of Needle Deflection Based on Dynamics Model in Robot-Assisted Percutaneous Surgery

2011 ◽  
Vol 317-319 ◽  
pp. 633-637
Author(s):  
Wen Zhong Ma ◽  
Dong Mei Wu ◽  
Zhi Jiang Du
Keyword(s):  
Soft Tissue ◽  
Needle Insertion ◽  
Experimental Result ◽  
Percutaneous Surgery ◽  
Dynamics Model ◽  
Robot Assisted ◽  
Needle Deflection ◽  
Reference Strategy

Aimed to robot-assisted percutaneous surgery, we present an estimation equation to calculate the deflection at needle tip based on dynamics model in this paper. According to the equation, we can use the needle loads to calculate the estimation deflection of needle tip, during needle insertion into soft tissue. Finally, verifying experiments of estimation equation were carried out on a liver. The experimental result shows that the error of equation proposed is small and acceptable. This equation can be used to estimate deflection and direction of needle tip, and can also provide a reference strategy in robot-assisted percutaneous surgery

Mechanics-Based Interactive Modeling for Medical Flexible Needle Insertion in Consideration of Nonlinear Factors

2016 ◽  
Vol 11 (1) ◽  
Author(s):  
Shan Jiang ◽  
Xingji Wang
Keyword(s):  
Soft Tissue ◽  
Kinematic Model ◽  
Needle Insertion ◽  
Winkler Foundation ◽  
Nonlinear Characteristics ◽  
Deformation Control ◽  
Needle Deflection ◽  
Iteration Cycle ◽  
Foundation Model ◽  
Sensitivity Studies

A mechanics-based model of flexible needle insertion into soft tissue is presented in this paper. Different from the existing kinematic model, a new model has been established based on the quasi-static principle, which also incorporates the dynamics of needle motions. In order to increase the accuracy of the model, nonlinear characteristics of the flexible needle and the soft tissue are both taken into account. The nonlinear Winkler foundation model and the modified Euler–Bernoulli theory are applied in this study, providing a theoretical framework to study insertion and deformation of needles. Galerkin method and iteration cycle analysis are applied in solving a series of deformation control equations to obtain the needle deflection. The parameters used in the mechanics-based model are obtained from the needle force and needle insertion experiment. Sensitivity studies show that the model can respond reasonably to changes in response to variations in different parameters. A 50 mm needle insertion simulation and a 50 mm corresponding needle insertion experiment are conducted to prove the validity of the model. At last, a study on different needle tip bevel demonstrates that the mechanics-based model can precisely predict the needle deflection when more than one parameter is changed. The solution can also be used in optimizing trajectory of the needle tip, enabling the needle to reach the target without touching important physiological structures such as blood vessels with the help of dynamic trajectory planning.

Roboterbasierte spanende Bearbeitung*/Robot-Based Milling Operation. Machine Learning Algorithm for a model-based feed-forward torque control

2019 ◽  
Vol 109 (05) ◽  
pp. 352-357
Author(s):  
C. Brecher ◽  
L. Gründel ◽  
L. Lienenlüke ◽  
S. Storms
Keyword(s):  
Machine Learning ◽  
Position Control ◽  
Learning Algorithm ◽  
Milling Process ◽  
Industrial Robots ◽  
Torque Control ◽  
Feed Forward ◽  
Control Loops ◽  
Model Based ◽  
Machine Learning Approach

Die Lageregelung von konventionellen Industrierobotern ist nicht auf den dynamischen Fräsprozess ausgelegt. Eine Möglichkeit, das Verhalten der Regelkreise zu optimieren, ist eine modellbasierte Momentenvorsteuerung, welche in dieser Arbeit aufgrund vieler Vorteile durch einen Machine-Learning-Ansatz erweitert wird. Hierzu wird die Umsetzung in Matlab und die simulative Evaluation erläutert, die im Anschluss das Potenzial dieses Konzeptes bestätigt.   The position control of conventional industrial robots is not designed for the dynamic milling process. One possibility to optimize the behavior of the control loops is a model-based feed-forward torque control which is supported by a machine learning approach due to many advantages. The implementation in Matlab and the simulative evaluation are explained, which subsequently confirms the potential of this concept.

Numerical Simulation Study of Metal Transfer in MIG Welding with Magnetic Control

2014 ◽  
Vol 532 ◽  
pp. 545-548 ◽  
Author(s):  
Chao Yang ◽  
Shu Yuan Jiang ◽  
Hai Bo Bi
Keyword(s):  
Fluid Dynamics ◽  
Numerical Simulation ◽  
Mathematical Model ◽  
Simulation Study ◽  
Electromagnetic Theory ◽  
Metal Transfer ◽  
Experimental Result ◽  
Magnetic Control ◽  
Mig Welding ◽  
Model Based

This paper simulate the mode of metal transfer in MIG magnetic control welding by using CFD software FLUENT, establishing mathematical model based on fluid dynamics and electromagnetic theory, and simulate the form, grow and drop process of metal transfer with and without magnetic. Meanwhile, do experiments to confirm the simulate result, and it is well consistent with the experimental result.

Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage

2019 ◽  
Vol 04 (01) ◽  
pp. 1842005
Author(s):  
Ryosuke Tsumura ◽  
Yusuke Takishita ◽  
Hiroyasu Iwata
Keyword(s):  
Tissue Damage ◽  
Control Method ◽  
Axial Rotation ◽  
Needle Insertion ◽  
Experimental Results ◽  
Insertion Force ◽  
Tissue Sections ◽  
Needle Deflection ◽  
Hole Area ◽  
Insertion Method

Because fine needles can easily be deflected, accurate needle insertion is often difficult. Lower abdominal insertion is particularly difficult because of less imaging feedback; thus, an approach for allowing a straight insertion path by minimizing deflection is beneficial in cases of lower abdominal insertion. Although insertion with axial rotation can minimize deflection, the rotational insertion may cause tissue damage. Therefore, we established a novel insertion method for minimizing both deflection and tissue damage by combining rotation and vibration. Using layered tissues, we evaluated the effect of a combination of rotation and vibration in terms of deflection and tissue damage, which were measured by the insertion force and torque, and the area of the hole created by the needle using histological tissue sections to measure tissue damage. The experimental results demonstrated that insertion with unidirectional rotation is risky in terms of tissue wind-up, while insertion with bidirectional rotation can decrease deflection and avoid wind-up. We also found that insertion with vibration can decrease the insertion force and torque. Therefore, insertion with a combination of bidirectional rotation and vibration can minimize needle deflection and tissue damage, including the insertion force and torque and the hole area.

Force Sensor Model Based on FEA for the Electromagnetic Levitation System

2019 ◽  
Vol 21 (6) ◽  
pp. 20-25 ◽  
Author(s):  
Qilong Jiang ◽  
Da Liang ◽  
Feng Yan ◽  
Dong Liu
Keyword(s):  
Electromagnetic Levitation ◽  
Force Sensor ◽  
Model Based ◽  
Sensor Model ◽  
Levitation System
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