Control of Shape Memory Alloy Actuated Flexible Needle Using Multimodal Sensory Feedbacks

Joseph, Felix Orlando Maria; Kumar, Madhukar; Franz, Karly; Konh, Bardia; Hutapea, Parsaoran; Zhao, Yong; Dicker, Adam P.; Wang, Yuanyuan; Podder, Tarun

doi:10.12720/joace.3.5.428-434

Cited by 11 publications

(4 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Their results could serve as the reference for the development of surgical robots with one point access and continuum mechanisms in the medical robotics field. Maria Joseph et al 51 have tested the trajectory tracking performance of the SMA actuated flexible needle using three feedback modalities such as EM, vision and US. They have found that the trajectory tracking performance with EM sensory feedback modality shows smaller root mean square error (RMSE) compared to that with the vision and US feedbacks.…”

Section: Active Needle Steeringmentioning

confidence: 99%

Sliding mode control of a shape memory alloy actuated active flexible needle

Joseph

Podder

2018

Robotica

View full text Add to dashboard Cite

SUMMARYIn medical interventional procedures such as brachytherapy, biopsy and radio-frequency ablation, precise tracking through the preplanned desired trajectory is very essential. This important requirement is critical due to two major reasons: anatomical obstacle avoidance and accurate targeting for avoiding undesired radioactive dose exposure or damage to neighboring tissue and critical organs. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. The trajectory tracking performance of the needle is tested while having its actual movement in an artificial tissue phantom by giving various input reference trajectories such as multi-step and sinusoidal. Performance of the adaptive sliding mode controller is compared with that of the proportional, integral and derivative controller and is proved to be the effective method in the presence of the external disturbances.

show abstract

Section: Active Needle Steeringmentioning

confidence: 99%

Sliding mode control of a shape memory alloy actuated active flexible needle

Joseph

Podder

2018

Robotica

View full text Add to dashboard Cite

show abstract

“…Ko et al (2011) have presented a state feedback control system, specifically an approximate linearization technique, for their proposed novel "programmable bevel" steering needle design. Maria Joseph et al (2014) have extended the work of Ruiz et al by testing the PID-P 3 trajectory tracking the performance of the SMA-actuated, flexible needle using three feedback/sensing modalities, such as EM sensor, vision, and US. In particular, Maria Joseph et al (2014) showed that the trajectory tracking performance using the EM sensory feedback modality was the best of these three sensing modalities.…”

Section: Introductionmentioning

confidence: 99%

“…Maria Joseph et al (2014) have extended the work of Ruiz et al by testing the PID-P 3 trajectory tracking the performance of the SMA-actuated, flexible needle using three feedback/sensing modalities, such as EM sensor, vision, and US. In particular, Maria Joseph et al (2014) showed that the trajectory tracking performance using the EM sensory feedback modality was the best of these three sensing modalities. Joseph et al (2015) have also implemented a coordinated closed-loop control strategy of a 1DOF robot steering an SMA-actuated, active flexible needle in a curvilinear trajectory tracking task.…”

Section: Introductionmentioning

confidence: 99%

Coordinated control of a 3DOF cartesian robot and a shape memory alloy-actuated flexible needle for surgical interventions: a non-model-based control method

Traughber

Biswas

et al. 2021

Robotica

Self Cite

View full text Add to dashboard Cite

Summary Success of any needle-based medical procedures depends on accurate placement of the needle at the target location. However, accurate targeting and control of flexible self-actuating (active) needle are challenging. We have developed a shape memory alloy-actuated flexible needle steered by a 3D Cartesian robot and performed a comparative study of four, non-model-based, coordinated control methodologies for the combined robot steering and flexible-needle insertion process for surgical interventions. Investigated four controllers are: proportional–integral–derivative (PID), PID with the cubic of positional error term (PID-P3), static PID sliding mode controller, and robust adaptive PID sliding mode controller (RAPID-SMC). Relative efficacies of these controllers are demonstrated by performing experiements using a tissue-mimicking soft material phantom. Results from experiments have reavealed that RAPID-SMC is superior to other three controllers.

show abstract

“…An example of a needle design in each of the third categories is shown in Figure 1 . Multiple design solutions exist for this category and have been extensively reviewed in [ 12 , 13 , 14 , 15 ], including telescopic mechanisms such as the concentric combination of precurved elastic tubes presented in [ 16 , 17 ], and snake-like solutions via both shape memory alloys [ 18 , 19 , 20 ] and tendon actuation methods [ 21 , 22 ]. These designs also have their limitations, for example telescopic mechanisms require a priori designs, limiting the variability of the final trajectory in tissue.…”

Section: Introductionmentioning

confidence: 99%

Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle

Matheson

Baena

2020

Biomimetics

View full text Add to dashboard Cite

Percutaneous interventions via minimally invasive surgical systems can provide patients with better outcomes and faster recovery times than open surgeries. Accurate needle insertions are vital for successful procedures, and actively steered needles can increase system precision. Here, we describe how biology inspired the design of a novel Programmable Bevel-Tip Needle (PBN), mimicking the mechanics and control methods of certain insects ovipositors. Following an overview of our unique research and development journey, this paper explores our latest, biomimetic control of PBNs and its application to neurosurgery, which we validate within a simulated environment. Three modalities are presented, namely a Direct Push Controller, a Cyclic Actuation Controller, and a newly developed Hybrid Controller, which have been integrated into a surgical visual interface. The results of open loop, expert human-in-the-loop and a non-expert user study show that the Hybrid Controller is the best choice when considering system performance and the ability to lesson strain on the surrounding tissue which we hypothesis will result in less damage along the insertion tract. Over representative trajectories for neurosurgery using a Hybrid Controller, an expert user could reach a target along a 3D path with an accuracy of 0.70±0.69 mm, and non-expert users 0.97±0.72 mm, both clinically viable results and equivalent or better than the state-of-the-art actively steered needles over 3D paths. This paper showcases a successful example of a biologically inspired, actively steered needle, which has been integrated within a clinical interface and designed for seamless integration into the neurosurgical workflow.

show abstract

Control of Shape Memory Alloy Actuated Flexible Needle Using Multimodal Sensory Feedbacks

Cited by 11 publications

References 17 publications

Sliding mode control of a shape memory alloy actuated active flexible needle

Sliding mode control of a shape memory alloy actuated active flexible needle

Coordinated control of a 3DOF cartesian robot and a shape memory alloy-actuated flexible needle for surgical interventions: a non-model-based control method

Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle

Contact Info

Product

Resources

About