STEERABILITY AND KINEMATICS OF BEVEL-TIP FLEXIBLE NEEDLE

被引：0
|
作者：
Gao, Dedong [1 ,2 ]
Lei, Yong [1 ]
Yao, Bin [1 ,3 ]
Li, Qiang [2 ]
Bai, Huiquan [2 ]
机构：
[1] Zhejiang Univ, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Zhejiang, Peoples R China
[2] Qinghai Univ, Sch Mech Engn, Xining 810016, Peoples R China
[3] Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA
来源：
PROCEEDINGS OF THE ASME 10TH INTERNATIONAL MANUFACTURING SCIENCE AND ENGINEERING CONFERENCE, 2015, VOL 2 | 2015年
关键词：
SOFT-TISSUE; MOTION; INSERTION;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Steerable flexible needles with bevel-tip are designed for many medical diagnoses and treatments. In this paper we present a hew kinematic model for the bevel-tip flexible needle. Based on the analysis of needle deflection, the procedure of needle insertion can be decomposed of n sub-procedures, which are independent on the depth of insertion. In each sub-procedure, the tip is steered though the base to generate three motions with respect to the body-frame Ox(i)y(i)z(i): the rotation about z(i) the translation along zi and the rotation about y(i). The kinematics of flexible needle with bevel-tip is presented using the Denavit-Hartenberg method. The inverse kinematics of needle insertion is derived from the kinematic equation of flexible needle. The solution sets are discussed for the insertion consisting of consecutive rotation and insertion control actions. Furthermore, how to select suitable insertion position and orientation is discussed.
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页数：8
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