Geometric approximation approach based research on kinematics of bevel-tip flexible needles

被引：1
作者：
Gao D.-D. [1 ,2 ]
Li Q. [1 ]
Lei Y. [2 ]
Xu F. [1 ]
Bai H.-Q. [1 ]
机构：
[1] School of Mechanical Engineering, Qinghai University, Xining
[2] State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou
来源：
Lei, Yong (ylei@zju.edu.cn) | 1600年 / Zhejiang University卷 / 51期
关键词：
Flexible needle; Geometric approximation approach; Kinematics; Path planning; Robot-assisted needle insertion;
D O I：
10.3785/j.issn.1008-973X.2017.04.010
中图分类号：
学科分类号：
摘要：
The forward and inverse kinematical models were established in order to accurately insert the bevel-tip flexible needle into target. Lots of experimental studies indicate that the binding curvature of flexible needles is approximately constant in the procedure of insertion, so the needle is inserted into soft tissue along a path composed of circular arcs of approximately constant radius. This feature of flexible needles was used. D-H (Denavit-Hartenberg) method was adopted to establish the forward kinematics model of flexible needles. The combination of D-H method and the geometric approximation approach were used to derive the inverse kinematics model of flexible needles under the consideration of the needle tip's reachability corresponding to target. The simulation results show that the proposed kinematics model can correctly obtain all feasible paths between the entry point and target. © 2017, Zhejiang University Press. All right reserved.
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页码：706 / 713and751
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