Sharif Digital Repository

In this paper the dynamics and control of the underactuated flexible needle will be discussed. To evaluate the dynamics of the needle, the study uses Saint Venant-Kirchhoff and finite element method. The model is validated using the experimental data provided in the literature. It is also shown that using iterative decomposition of the dynamics equation the unactuated degree of freedom of the needle tip can be feedback linearized. The effect of the control signal exerted on the tip is projected via iterative decomposition of the dynamics equation. The efficiency of the approach will be next explored through some examples  

Needle insertion into the soft tissue has been the subject of many studies during the last decade, while needle control has become a crucial training tool, evaluating surgeon's skills in such critical incision. This study considers a model-based dynamics equation for the needle movement through the soft tissue. In the proposed model, the force distribution along the needle shaft is estimated through the use of tissue deformation data and tissue model. A novel algorithm for the needle control simulation is also proposed based on the developed dynamics equation of the needle movement. To point out the role of mechanical properties of the soft tissue, an inverse dynamics control method is used... 

This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures to improve targeting accuracy and to help avoid damaging sensitive tissues. To control these multiple, potentially competing objectives, we present a phased controller that operates one manipulator at a time using closed-loop imaging feedback. We present an automated procedure planning technique that uses tissue geometry to select the needle insertion location, manipulation locations, and controller parameters. The planner uses a stochastic optimization of a cost function that includes tissue stress and robustness to disturbances. We demonstrate the system on 2D tissues simulated with a... 

Although 'Needle steering' is considered a challenge in needle insertion strategies, needle control becomes a crucial training tool for evaluating surgeon's skills in such critical incision. In this study, a model-based dynamics equation for the needle movement through the soft tissue is developed. In the proposed control scheme, the force estimation calculated through the simulated tissue deformation data and the dynamic finite element as the tissue model, is used as the force feedback. To point out the role of mechanical properties of the soft tissue, an inverse dynamics control method is used to demonstrate the system performance in presence of uncertainty in tissue mechanical parameters.... 

Air–water flow is a complex and challenging subject in many engineering fields as well as hydraulic engineering; and discovery of its characteristics can help the engineers to predict and analyze a probable phenomenon. In the present paper, development of a device capable of measuring the flow velocity, air concentration, diameter and counts of bubbles in air–water flows is described. The heart of the present device is two resistive probes with a novel configuration. Being pressure and corrosion resistant and also having negligible resistivity in the flow are some of the unique features of the employed needles. Moreover, sampling frequency and time can be adjusted for the intended... 

A three–dimensional metal organic framework (3D–MOF) and a two–dimensional polyoxometalate (2D–POM), both incorporating nanostructured molybdenum (VI) oxide, were synthesized and implemented for headspace needle trap extraction of traces of chlorobenzenes (CBs). The 3D–MOF of type {(Mo2O6)(4,4′–bpy)}n and the 2D–POM of type [4,4′–bpy][Mo7O22] were synthesized by a solvothermal process and characterized by FT–IR, powder X–ray diffraction, scanning electron microscopy, transmission electron microscopy, thermogravimetry, energy dispersive X–ray, elemental mapping and Brunner–Emmet–Teller adsorption analyses. The 3D–MOF proved to be superior. Following thermal desorption, the CBs... 

In this research, three fibers including cellulose acetate (CA), CA–phenyltriethoxysilane (PTES) prepared via sol–gel electrospinning and sol–gel–based CA fibers immersed in PTES solution (dipped–CA–PTES) were prepared. The composition and morphology of the prepared fibers were evaluated by energy dispersive X-ray spectroscopy and field emission scanning electron microscopy. The prepared fibers were implemented in a home–made needle trap device, followed by thermal desorption of the selected chlorobenzenes (CBs) to a gas chromatography–flame ionization detector. Finally, parameters affecting the extraction methodology such as the amount of sorbent, extraction time and temperature, desorption... 

Three-dimensional (3D) polyamide scaffolds were fabricated by applying a solvent bath as the collecting element. Electrospun nanofibers were immersed into the solvent bath to give a material with a laminated 3D texture. In parallel, 2D nanofibers were synthesized and utilized as microextractive phases in a needle trap device to compare the capabilities of 2D and 3D materials in terms of headspace extraction of various chlorobenzenes (chlorobenzene, 1,2-dichlorobenzene, 1,4-dichlorobenzene, 1,2,4-trichlorobenzene and 1,2,3,4-tetrachlorobenzene). The results demonstrate the superiority of 3D nanofibrous scaffolds over 2D mats. The porosity, morphology, and thermal stability of the 3D scaffolds... 

A superhydrophobic extractive phase was prepared and packed in a needle trap microextraction device for extraction of volatile organic compounds, followed by their determination by gas chromatography. The superhydrophobic phase was prepared by surface modification of melamine formaldehyde (MF) sponge embedded by reduced graphene oxide (rGO). The overall properties of the modified MF along with its high sorption capacity and low cost fabrication were indicative of its feasibility to be highly suitable for extraction of organic pollutants. The determined water contact angle (>150o) from the surface of melamine formaldehyde–reduced graphene oxide (MF–rGO) revealed its high affinity toward... 

In percutaneous applications, needle insertion into soft tissue is considered as a challenging procedure, and hence, it has been the subject of many recent studies. This study considers a model-based dynamics equation to evaluate the needle movement through prostate soft tissue. The proposed model estimates the applied force to the needle using the tissue deformation data and finite element model of the tissue. To address the role of mechanical properties of the soft tissue, an inverse dynamics control method based on sliding mode approach is used to demonstrate system performance in the presence of uncertainties. Furthermore, to deal with inaccurate estimation of mechanical parameters of... 

In recent years, there hass been a pronounced emphasis on percutaneous needle steering with the aid of advanced soft tissue modeling techniques. In this work an optical flow based motion estimation method is used to estimate the force applied to the needle by the soft tissue during percutaneous applications. The study considers Finite Element Model (FEM) of the tissue evaluated by the deformation data acquired through the optical flow method. To represent the soft tissue behavior, dynamic FEM with Rayleigh damping and viscoelastic models are used. The method is validated experimentally through offline evaluation of the ultrasonic images of the chicken breast punctured by a needle. The force... 

The authors have synthesized a superhydrophobic silica aerogel by using a sol-gel technique. The material is shown to be an efficient sorbent for needle trap microextraction of chlorobenzenes. Hydrophobicity affects the performance of the sorbent as shown by altering the ratio between tetraethylorthosilicate (TEOS) and methyltrimethoxysilane when synthesizing the sorbent. The observed contact angle (which is >150°) underpins the superhydrophobic properties of the aerogel. The microstructure of the sorbent was investigated by BET adsorption, revealing a surface area above 1000 m2 g−1. The sorbent was applied to needle trap extraction of chlorobenzenes from aqueous samples, and their... 

Although there are many works in which path planning of robots is studied, but path planning of the bevel-tip needles with highly flexible body is different and difficult due to unique properties of soft tissues. Real soft tissues are nonhomogeneously elastic and uncertainly deformable and hence, during needle motions the planned path changes unknowingly. In this paper, a novel adaptive path planning of bevel-tip needles inside the uncertain brain tissue is presented. The proposed approach is based on minimization of a Lyapanov energy function used as the cost function which consists of 6 partial costs: path length, number of changes in bevel direction, tissue deformation, horizontal and... 

A nanocomposite consisting of polythiophene–silver was prepared and implemented as a desired sorbent for headspace needle trap extraction. Colloidal silver nanoparticles (Ag NPs) with narrow size distribution and high stability were synthesized in water–in–oil microemulsion. This simple procedure was adapted to prepare highly monodispersed Ag NPs, starting from an initial synthesis in sodium bis(2-ethylhexyl) sulfosuccinate (AOT) reverse micelles. Polythiophene (PT) was synthesized by chemical oxidative polymerization in the presence of anhydrous ferric chloride while its polymeric structure was confirmed by Fourier transform infrared spectrometry (FTIR). Eventually, the prepared PT was... 

In this paper, model-based and distrbance observer (DOB)-based control of needle in precautious applications are compared. In the model-based approach, the force acting on the needle is calculated by evaluating the finite element model (FEM) of the tissue with the tissue deformation. In DOB-based method, the force acting on the needle is considered as an external disturbance and it is estimated using position and velocity of the needle. In both approaches, the calculated/estimated force is used in a sliding mode control scheme to steer the needle to the target. A dynamics equation for the movement of the needle is proposed which includes the force applied by the tissue to the needle. The...