Inverse Kinematic Control of a Shape Memory Alloy Actuated Smart Needle for Percutaneous Intervention

被引：0

作者：

Joseph, Felix Orlando Maria ^{[1
]}

Hans, Surender ^{[1
]}

Singhal, Aviral ^{[1
]}

Yadav, Ankur Kumar ^{[1
]}

Gupta, Arjun ^{[1
]}

Malhotra, Aman ^{[1
]}

Singh, Prasant Shekhar ^{[1
]}

Krishna ^{[1
]}

机构：

[1] Indian Inst Technol Roorkee, Elect Engn Dept, Roorkee, Uttar Pradesh, India

来源：

TENCON 2017 - 2017 IEEE REGION 10 CONFERENCE | 2017年

关键词：

Active needle; percutaneous intervetion; inverse kinematic control; smart actuator;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents the development and control of a novel active needle for percutaneous intervention. Using vision feedback of the actual tip of the needle, inverse kinematics based closed loop control in tracking a 3D curved path is performed. Shape Memory Alloy (SMA) wires are deployed as actuators for the developed active needle system. In-air experiments are performed to evaluate and validate the inverse kinematic closed loop control performance of the needle in 3D curvilinear path tracking. The results obtained are acceptable within clinical limits.

引用

页码：1159 / 1164

页数：6

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