Work

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

Year: 2025

Type: article

Abstract: This paper 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 andex vivochicken 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.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2025.3604744

Authors: Yanzhou Wang, Chang Chang, Junling Mei, Simon Leonard, Russell Taylor, Iulian Iordachita

Institution: Johns Hopkins University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Cancer Institute, National Institute of Biomedical Imaging and Bioengineering

Awards: OpenIGTLink: a network communication interface for closed-loop image-guided interventions, G5563026936, Adaptive Percutaneous Prostate Interventions using Sensorized Needle