Closed-loop control of needle steering for percutaneous kidney access
Workshop Paper, ICRA '10 Workshop on Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery, pp. 48 - 50, May, 2010
Abstract
The authors present ongoing work on the use of a variable curvature flexible needle system to gain access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using duty-cycled spinning. Renal access is simulated both in simulation and in vitro testing which validate the control method proposed.
BibTeX
@workshop{Wood-2010-120657,author = {N. A. Wood and K. Shahrour and M. C. Ost and C. N. Riviere},
title = {Closed-loop control of needle steering for percutaneous kidney access},
booktitle = {Proceedings of ICRA '10 Workshop on Snakes, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery},
year = {2010},
month = {May},
pages = {48 - 50},
}
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