Title :
Towards deformation control of soft tissues based on visual servo for flexible needle insertion applications
Author :
Zhenzhou Yi ; Wei Dong ; Zhijiang Du
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
In this paper, a new deformation control algorithm for the soft tissue is applied to flexible needled insertion, which can simplify the needle insertion. Considering that the parameters of soft tissue are hard to obtained, we adopt the uncalibrated visual servo control to design the deformation control algorithm for no priori-knowledge soft tissue. Thus, we can obtain the target shift for the deformation control by a new method of needle trajectory planning. Finally, a detailed experiment of deformation control with target shift planning has been conducted to validate the feasibility of the new technique.
Keywords :
manipulators; medical robotics; path planning; tissue engineering; trajectory control; visual servoing; deformation control algorithm; flexible needle insertion application; manipulator; needle trajectory planning; soft tissue; target shift planning; visual servo control; Cameras; Deformable models; Jacobian matrices; Mathematical model; Needles; Planning; Trajectory; deformation control; flexible needle; soft tissue; trajectory planning; uncalibrated visual;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237578
