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 proceedingConference contribution

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.
Original languageEnglish
Title of host publicationProceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of PublicationHamburg, Germany
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4375-4380
Number of pages6
ISBN (Electronic)978-1-4799-9994-1
DOIs
Publication statusPublished - 17 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Conference Centre Hamburg, Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015
https://iros2015.informatik.uni-hamburg.de/

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated titleIROS 2015
CountryGermany
CityHamburg
Period28/09/152/10/15
Internet address

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