scholarly journals Online Strategy Synthesis for Safe and Optimized Control of Steerable Needles

2021 ◽  
Vol 348 ◽  
pp. 128-135
Author(s):  
Sascha Lehmann ◽  
Antje Rogalla ◽  
Maximilian Neidhardt ◽  
Alexander Schlaefer ◽  
Sibylle Schupp
Keyword(s):  
Online Strategy ◽  
Steerable Needles

A Modular Robotic Catheter Driver for Programmable Bevel-tip Steerable Needles

2018 ◽  
Author(s):  
R Secoli ◽  
◽  
E Matheson ◽  
F Rodriguez y Baena
Keyword(s):  
Steerable Needles

Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes

2020 ◽  
Author(s):  
Tayfun Efe Ertop ◽  
Maxwell Emerson ◽  
Margaret Rox ◽  
Josephine Granna ◽  
Robert Webster ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Sliding Mode ◽  
Ex Vivo ◽  
Flexible Bronchoscope ◽  
Complex Interactions ◽  
Trajectory Following ◽  
Steerable Needles ◽  
Needle Trajectory ◽  
Following Error ◽  
Steerable Needle

Abstract Bronchoscopic diagnosis and intervention in the lung is a new frontier for steerable needles, where they have the potential to enable minimally invasive, accurate access to small nodules that cannot be reliably accessed today. However, the curved, flexible bronchoscope requires a much longer needle than prior work has considered, with complex interactions between the needle and bronchoscope channel, introducing new challenges in steerable needle control. In particular, friction between the working channel and needle causes torsional windup along the bronchoscope, the effects of which cannot be directly measured at the tip of thin needles embedded with 5 degree-of-freedom magnetic tracking coils. To compensate for these effects, we propose a new torsional deadband-aware Extended Kalman Filter to estimate the full needle tip pose including the axial angle, which defines its steering direction. We use the Kalman Filter estimates with an established sliding mode controller to steer along desired trajectories in lung tissue. We demonstrate that this simple torsional deadband model is sufficient to account for the complex interactions between the needle and endoscope channel for control purposes. We measure mean final targeting error of 1.36 mm in phantom tissue and 1.84 mm in ex-vivo porcine lung, with mean trajectory following error of 1.28 mm and 1.10 mm, respectively.

Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators1

2016 ◽  
Vol 10 (2) ◽  
Author(s):  
E. Bryn Pitt ◽  
David B. Comber ◽  
Yue Chen ◽  
Joseph S. Neimat ◽  
Robert J. Webster ◽  
...  
Keyword(s):  
Magnetic Resonance ◽  
Steerable Needles

scholarly journals Adaptive path planning for steerable needles using duty-cycling

2011 ◽  
Author(s):  
Mariana C. Bernardes ◽  
Bruno V. Adorno ◽  
Philippe Poignet ◽  
Nabil Zemiti ◽  
Geovany A. Borges
Keyword(s):  
Path Planning ◽  
Duty Cycling ◽  
Steerable Needles

scholarly journals Human Resource Role and Online Strategy

2020 ◽  
Author(s):  
Sari Lestari Zainal Ridho ◽  
Neneng Miskiyah ◽  
Muhammad Anshari ◽  
Hadi Jauhari
Keyword(s):  
Human Resource ◽  
Online Strategy
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