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Dynamics and control of the flexible needles for percutaneous application: Partial feedback linearization method

Maghsoudi, A ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.1109/ISIE.2012.6237196
  3. Publisher: 2012
  4. Abstract:
  5. 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
  6. Keywords:
  7. Needle flexibility ; Control signal ; Dynamics and control ; Dynamics equation ; Experimental data ; Flexible needle ; Needle insertion ; Partial feedback linearization ; Percutaneous application ; Unactuated degrees ; Under-actuated systems ; Underactuated ; Feedback linearization ; Finite element method ; Industrial electronics ; Needles ; Dynamics
  8. Source: IEEE International Symposium on Industrial Electronics ; 2012 , Pages 831-834 ; 9781467301589 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6237196