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Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2020  >  7(1): 244-256
Surender Hans and Felix Orlando Maria Joseph, "Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 244-256, Jan. 2020. doi: 10.1109/JAS.2019.1911660
Citation: Surender Hans and Felix Orlando Maria Joseph, "Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 244-256, Jan. 2020. doi: 10.1109/JAS.2019.1911660
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Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures

doi: 10.1109/JAS.2019.1911660
Funds:  This work was supported by the Science and Engineering Research Board (SERB) India (ECR/2017/001035)
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    Abstract
  • In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching accuracy during needle steering inside the target organ. In this research work, the needle steering approach is determined using a robust control algorithm namely the integral sliding mode control (ISMC) strategy to eliminate the chattering problem associated with the general clinical scenario. In general, the discontinuity component of feedback control input is not appropriate for the needle steering methodology due to the practical limitations of the driving actuators. Thus in ISMC, we have incorporated the replacement of the discontinuous component using a super twisting control (STC) input due to its unique features of chattering elimination and disturbance observation characteristics. In our study, the kinematic model of an asymmetric flexible bevel-tip needle in a soft-tissue phantom is used to evaluate stability analysis. A comparative study based on the analysis of chattering elimination is executed to determine the performance of the proposed control strategy in real-time needle steering with conventional sliding mode control using vision feedback through simulation and experimental results. This validates the efficacy of the proposed control strategy for clinical needle steering.

     

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    Highlights

    • Core Finding: A robust control strategy is proposed for percutaneous cancerous interventions to execute chattering free maneuverability of the flexible needle in-spite of matched disturbances.
    • Essence of the research: In minimal invasive surgery, it is a major requirement for safety and precise target reaching which is addressed successfully in this paper.
    • Distinction of the paper: With Integral Sliding Mode Control (ISMC), we have incorporated the replacement of the discontinuous part by Super Twisting Control (STC) input due to its unique feature of chattering elimination and disturbance observation characteristics.

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