H∞ output feedback controller design for flexible needles guidance

Alireza Farhamfard, M. Menhaj, A. Fakharian
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引用次数: 1

Abstract

Precise and reliable needle insertion into human body, especially soft and inhomogeneous tissues, in order to keep away the needle from sensitive organs is a controversial issue for medical tasks, such as percutaneous interventions, biopsy and some kinds of radiation therapy (brachytherapy). Steerable or flexible bevel-tip needles have an asymmetric tip that causes the needle to bend, and needles can reach the target by deflection over insertion. Getting feedback from imaging devices can improve the objectives. In 2D motion planning it is so important to keep and stabilize the needle in a desired plan. Since the tissue type changes during insertion that causes uncertainty parameter so it is a big problem to keep the needle in the desired plan. In this paper we propose a robust controller with the H-infinity output feedback approach to overcome the uncertainty and disturbances. This controller is applied to a linearized model of steerable needles. Simulation results are presented to show the feasibility of the scheme.
柔性针制导的H∞输出反馈控制器设计
精确可靠地将针头插入人体,特别是柔软和不均匀的组织,以使针头远离敏感器官是医疗任务中一个有争议的问题,例如经皮介入、活检和某些类型的放射治疗(近距离治疗)。可操纵或柔性斜尖针有一个不对称的尖端,使针弯曲,针可以达到目标的偏转超过插入。从成像设备获得反馈可以改善物镜。在2D运动规划中,保持和稳定指针在理想的计划中是非常重要的。由于针头在插入过程中组织类型的变化,导致针头参数的不确定性,因此针头能否保持在预期的位置是一个很大的问题。本文提出了一种具有h∞输出反馈的鲁棒控制器来克服不确定性和干扰。将该控制器应用于可操纵针的线性化模型。仿真结果表明了该方案的可行性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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