Adaptive Neuro Fuzzy Inference Based Control of a Flexible Bevel-Tip Needle for Minimal Invasive Surgical Procedures

Abstract

Flexible bevel tip needles are commonly utilized for percutaneous interventional treatments in Minimal Invasive Surgical procedures with enhanced target reaching precision. Due to tissue in-homogeneity, deformation within the tissue domain, and incorrect guiding strategies, the target reaching accuracy degrades. The fundamental objective of percutaneous interventional techniques is to ensure patient safety as well achieving the desired target position. Several researchers have previously devised many ways to control needle steering for precise targeting accuracy. In this work, an Adaptive Neuro Fuzzy Inference System (ANFIS) based controller has been proposed to regulate the needle in a specified plane to overcome complex approaches in existing controllers. Extensive simulation studies have been performed to validate the efficacy of the proposed control strategy.