Extended bicycle model for needle steering in soft tissue

Bita Fallahi; Seyedmohsen Khadem; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli

doi:10.1109/IROS.2015.7353998

Extended bicycle model for needle steering in soft tissue

Bita Fallahi, Seyedmohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

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.

Original language	English
Title of host publication	Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Hamburg, Germany
Publisher	Institute of Electrical and Electronics Engineers
Pages	4375-4380
Number of pages	6
ISBN (Electronic)	978-1-4799-9994-1
DOIs	https://doi.org/10.1109/IROS.2015.7353998
Publication status	Published - 17 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Conference Centre Hamburg, Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 https://iros2015.informatik.uni-hamburg.de/

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15
Internet address	https://iros2015.informatik.uni-hamburg.de/

Access to Document

10.1109/IROS.2015.7353998

https://ieeexplore.ieee.org/abstract/document/7353998

Cite this

@inproceedings{3d87cf410c3c41d7b837a11cf28e7928,

title = "Extended bicycle model for needle steering in soft tissue",

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.",

author = "Bita Fallahi and Seyedmohsen Khadem and Carlos Rossa and Ronald Sloboda and Nawaid Usmani and Mahdi Tavakoli",

year = "2015",

month = dec,

day = "17",

doi = "10.1109/IROS.2015.7353998",

language = "English",

pages = "4375--4380",

booktitle = "Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

url = "https://iros2015.informatik.uni-hamburg.de/",

}

Fallahi, B, Khadem, S, Rossa, C, Sloboda, R, Usmani, N & Tavakoli, M 2015, Extended bicycle model for needle steering in soft tissue. in Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems . Institute of Electrical and Electronics Engineers, Hamburg, Germany, pp. 4375-4380, IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353998

Extended bicycle model for needle steering in soft tissue. / Fallahi, Bita; Khadem, Seyedmohsen; Rossa, Carlos et al.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems . Hamburg, Germany: Institute of Electrical and Electronics Engineers, 2015. p. 4375-4380.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Extended bicycle model for needle steering in soft tissue

AU - Fallahi, Bita

AU - Khadem, Seyedmohsen

AU - Rossa, Carlos

AU - Sloboda, Ronald

AU - Usmani, Nawaid

AU - Tavakoli, Mahdi

PY - 2015/12/17

Y1 - 2015/12/17

N2 - 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.

AB - 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.

U2 - 10.1109/IROS.2015.7353998

DO - 10.1109/IROS.2015.7353998

M3 - Conference contribution

SP - 4375

EP - 4380

BT - Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers

CY - Hamburg, Germany

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

Extended bicycle model for needle steering in soft tissue

Abstract / Description of output

Conference

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Cite this