Algorithm for three-dimensional control of needle steering via duty-cycled rotation
Conference Paper, Proceedings of IEEE International Conference on Mechatronics (ICM '13), pp. 237 - 241, February, 2013
Abstract
Proportional control of curvature of a flexible bevel-tipped needle can be accomplished by rotating the needle shaft with a duty cycle. Using this technique, an algorithm for image-guided path-following control in two dimensions, based on an autonomous vehicle controller, has been previously demonstrated. This paper describes a computationally simple algorithm that extends the path-following control to three dimensions. Results from simulation are presented.
BibTeX
@conference{Wood-2013-120601,author = {N. A. Wood and C. A. Lehocky and C. N. Riviere},
title = {Algorithm for three-dimensional control of needle steering via duty-cycled rotation},
booktitle = {Proceedings of IEEE International Conference on Mechatronics (ICM '13)},
year = {2013},
month = {February},
pages = {237 - 241},
}
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