High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-02 DOI:10.1109/LRA.2025.3604744

Yanzhou Wang;Chang Chang;Junling Mei;Simon Leonard;Russell Taylor;Iulian Iordachita

引用次数: 0

Abstract

This letter presents a unified framework for autonomous flexible needle control in soft tissues using real-time finite element (FE) simulation and cross-entropy (CE) optimization. The method combines a sampling-based model predictive controller (MPC) for trajectory tracking with a kinematic-based bang-bang strategy to coordinate needle insertion, lateral adjustments, and bevel rotations. Sparse electromagnetic (EM) tracking feedback enables needle state reconstruction and compensates for model uncertainties. Experiments in plastisol and ex vivo chicken breast phantoms show sub-millimeter targeting accuracy, with respective targeting errors

$0.16 \pm 0.29$

mm and

$0.22 \pm 0.78$

mm as reported by the tracker.

查看原文本刊更多论文

基于实时有限元仿真和交叉熵优化的柔性针高精度自主控制

这封信提出了一个使用实时有限元（FE）模拟和交叉熵（CE）优化的软组织自主柔性针控制的统一框架。该方法将用于轨迹跟踪的基于采样的模型预测控制器（MPC）与基于运动学的“砰-砰”策略相结合，以协调针的插入、横向调整和斜角旋转。稀疏电磁跟踪反馈实现了针态重建和补偿模型不确定性。在塑料溶胶和离体鸡胸模型中进行的实验显示出亚毫米级的瞄准精度，跟踪器报告的瞄准误差分别为0.16 \pm 0.29$ mm和0.22 \pm 0.78$ mm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.