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A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks.

Alexandre Krupa 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : We present a method for three dimensional steer- ing of a beveled-tip flexible needle that can be used in medical robotics for percutaneous assistance procedures. The proposed solution is based on the design of a new duty-cycling control strategy that makes possible to control three degrees of freedom (DOFs) of the needle tip. These DOFs correspond to two rotations that are performed around the needle tip lateral axes and one translation along the needle shape axis. This approach has two advantages compared to existing methods. First it does not rely on a trajectory planning and opens therefore numerous closed-loop control scheme possibilities as for example the implementation of the visual servoing framework based on the task function approach. Second, it does not constraint the needle to follow a succession of planar arcs but allows non planar 3D trajectories. Experimental results of a targeting task performed by visual servoing demonstrate the feasibility of this new concept and its robustness to needle kinematic model errors.
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https://hal.inria.fr/hal-01057951
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Submitted on : Monday, August 25, 2014 - 4:45:38 PM
Last modification on : Wednesday, June 16, 2021 - 3:42:00 AM
Long-term archiving on: : Thursday, November 27, 2014 - 3:16:24 PM

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Alexandre Krupa. A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks.. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Aug 2014, São Paulo, Brazil. pp.301-307. ⟨hal-01057951⟩

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