Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Donder:2023:10.1109/TBME.2022.3209149,
author = {Donder, A and Rodriguez, y Baena F},
doi = {10.1109/TBME.2022.3209149},
journal = {IEEE Transactions on Biomedical Engineering},
pages = {1072--1085},
title = {3-D path-following control for steerable needles with fiber Bragg gratings in multi-core fibers},
url = {http://dx.doi.org/10.1109/TBME.2022.3209149},
volume = {70},
year = {2023}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Steerable needles have the potential for accurateneedle tip placement even when the optimal path to a target tissueis curvilinear, thanks to their ability to steer, which is an essen-tial function to avoid piercing through vital anatomical features.Autonomous path-following controllers for steerable needles havealready been studied, however they remain challenging, especiallybecause of the complexities associated to needle localization. Inthis context, the advent of fiber Bragg Grating (FBG)-inscribedmulti-core fibers (MCFs) holds promise to overcome these diffi-culties. Objective: In this study, a closed-loop, 3-D path-followingcontroller for steerable needles is presented. Methods: The controlloop is closed via the feedback from FBG-inscribed MCFs embed-ded within the needle. The nonlinear guidance law, which is a well-known approach for path-following control of aerial vehicles, isused as the basis for the guidance method. To handle needle-tissueinteractions, we propose using Active Disturbance Rejection Con-trol (ADRC) because of its robustness within hard-to-model en-vironments. We investigate both linear and nonlinear ADRC, andvalidate the approach with a Programmable Bevel-tip SteerableNeedle (PBN) in both phantom tissue and ex vivo brain, with someof the experiments involving moving targets. Results: The mean,standard deviation, and maximum absolute position errors areobserved to be 1.79 mm, 1.04 mm, and 5.84 mm, respectively, for3-D, 120 mm deep, path-following experiments. Conclusion: MCFswith FBGs are a promising technology for autonomous steerableneedle navigation, as demonstrated here on PBNs. Significance:FBGs in MCFs can be used to provide effective feedback in path-following controllers for steerable needles
AU  - Donder,A
AU  - Rodriguez,y Baena F
DO  - 10.1109/TBME.2022.3209149
EP  - 1085
PY  - 2023///
SN  - 0018-9294
SP  - 1072
TI  - 3-D path-following control for steerable needles with fiber Bragg gratings in multi-core fibers
T2  - IEEE Transactions on Biomedical Engineering
UR  - http://dx.doi.org/10.1109/TBME.2022.3209149
UR  - https://ieeexplore.ieee.org/document/9900442
UR  - http://hdl.handle.net/10044/1/99745
VL  - 70
ER  -
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