Work

Compensating for torsion windup in steerable needles

Year: 2008

Type: conference-paper

Abstract: Long, flexible, bevel-tip needles curve during insertion into tissue, and rotations of the needle base reorient the tip to steer subsequent insertions. Friction between the tissue and the needle shaft, however, can cause a severe discrepancy between the needle base and tip angles. In this paper, I demonstrate an algorithm to properly align the entire length of the needle using torque measured at the base. My algorithm uses several intermediate base rotations to align the orientation of points along the shaft with the desired angle, with minimal remaining torque exerted by the base. I performed an experimental validation with four angle sensors attached to the needle throughout the tissue. My compensation algorithm decreased the lag throughout the needle by up to 88%.

Source: IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

DOI: 10.1109/biorob.2008.4762825

Author: Kyle B. Reed

Institution: Johns Hopkins University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: National Institute of Biomedical Imaging and Bioengineering

Award: Steering Flexible Needles in Soft Tissue