NDLI: Development of a coordinated controller for robot-assisted shape memory alloy actuated needle for prostate brachytherapy

Content Provider	IEEE Xplore Digital Library
Author	Joseph, F.O.M. Franz, K. Yaxin Luan Yan-Jiang Zhao Datla, N. Hutapea, P. Dicker, A. Yan Yu Podder, T.
Copyright Year	2014
Description	Author affiliation: Dept. of Radiat. Oncology, Case Western Reserve Univ., Cleveland, OH, USA (Joseph, F.O.M.; Franz, K.; Yaxin Luan; Podder, T.) \|\| Dept. of Mech. Eng., Temple Univ., Philadelphia, PA, USA (Datla, N.; Hutapea, P.) \|\| Dept. of Radiat. Oncology, Thomas Jefferson Univ., Philadelphia, PA, USA (Yan-Jiang Zhao; Dicker, A.; Yan Yu)
Abstract	This paper deals with the development of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated needle to follow a curvilinear path for percutaneous intervention. The robot driving the needle is considered as the outer loop and the non-linear SMA actuated flexible needle system forms the inner loop. The two feedback control loops are coordinated in such a way that the robot drives the needle considering the needle's actual deflection so that the needle tip reaches the target location with an acceptable accuracy. Simulation results are presented to verify the efficacy of the controller for tracking the overall desired trajectory which includes the combined trajectory of the robot and the needle.
Sponsorship	IEEE Eng. Med. Biol. Soc.
Starting Page	357
Ending Page	360
File Size	747117
Page Count	4
File Format	PDF
ISBN	9781424479290
ISSN	1557170X
DOI	10.1109/EMBC.2014.6943603
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Needles Robot kinematics Trajectory Robot sensing systems Actuators Wires
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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