NDLI: Extended bicycle model for needle steering in soft tissue

Content Provider	IEEE Xplore Digital Library
Author	Fallahi, B. Khadem, M. Rossa, C. Sloboda, R. Usmani, N. Tavakoli, M.
Copyright Year	2015
Description	Author affiliation: Cross Cancer Inst. & the Dept. of Oncology, Univ. of Alberta, Edmonton, AB, Canada (Sloboda, R.; Usmani, N.) \|\| Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB, Canada (Fallahi, B.; Khadem, M.; Rossa, C.; Tavakoli, M.)
Abstract	This paper represents an extension to the kinematic bicycle model for beveled-tip needle motion in soft tissue, which accounts for non-constant curvature paths for the needle tip. For a tissue that is not stiff relative to the needle, the tissue deformation caused by needle insertion deviates the needle tip position from a constant curvature path. The proposed model is obtained by replacing the bicycle wheels with omnidirectional wheels that move in two orthogonal directions independently. Such wheels can move sideways, providing a means for modeling the deviations of the needle tip from a constant curvature path by incorporating new parameters in the model. Using an experimental setup, the needle is inserted into soft phantom tissue at different constant velocities and model parameters are fitted to experimental data. The model is verified by comparing the results from the model to empirical data.
Starting Page	4375
Ending Page	4380
File Size	1456468
Page Count	6
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353998
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Needles Wheels Bicycles Kinematics Mathematical model Biological tissues Biological system modeling
Content Type	Text
Resource Type	Article

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