Reed Kyle B
Department of Mechanical Engineering, Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA.
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19;2008:936-941. doi: 10.1109/BIOROB.2008.4762825.
Long, flexible, bevel-tip needles curve during insertion into tissue, and rotations of the needle base reorient the tip to steer subsequent insertions. Friction between the tissue and the needle shaft, however, can cause a severe discrepancy between the needle base and tip angles. In this paper, I demonstrate an algorithm to properly align the entire length of the needle using torque measured at the base. My algorithm uses several intermediate base rotations to align the orientation of points along the shaft with the desired angle, with minimal remaining torque exerted by the base. I performed an experimental validation with four angle sensors attached to the needle throughout the tissue. My compensation algorithm decreased the lag throughout the needle by up to 88%.
长的、可弯曲的、斜尖针在插入组织时会弯曲，针座的旋转可重新定向针尖，以引导后续插入。然而，组织与针杆之间的摩擦力会导致针座角度与针尖角度之间出现严重偏差。在本文中，我展示了一种算法，该算法可利用在针座处测量的扭矩来正确对齐针的整个长度。我的算法使用几个中间针座旋转，将针杆上各点的方向与所需角度对齐，同时使针座施加的剩余扭矩最小。我通过在整个组织中针上附着四个角度传感器进行了实验验证。我的补偿算法将整个针的滞后减少了高达88%。
