Imperial College London
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Riccardo Secoli, PhD, MBA

Faculty of Engineering, Department of Mechanical Engineering

Honorary Research Associate
 
 
 
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Contact

 

+44 (0)20 7594 3667r.secoli Website

 
 
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Location

 

414ABessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Secoli:2016:10.1109/BIOROB.2016.7523603,
author = {Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/BIOROB.2016.7523603},
publisher = {IEEE},
title = {Adaptive path-following control for bio-inspired steerable needles},
url = {http://dx.doi.org/10.1109/BIOROB.2016.7523603},
year = {2016}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Needle steering systems have shown potential ad-vantages in minimally invasive surgery in soft-tissue due to theirability to reach deep-seated targets while avoiding obstacles. Ingeneral, the control strategies employed to drive the insertionuse  simplified  kinematic  models,  providing  limited  control  ofthe trajectory between an entry site and a deep seated targetin  cases  of  unmodelled  tissue-needle  dynamics.  In  this  work,we present the first Adaptive Path-Following (APF) controllerfor a bio-inspired multi-part needle, able to steer along three-dimensional (3D) paths within a compliant medium by meansof the cyclical motion of interlocked segments and without theneed for duty-cycle spinning along the insertion axis.The control strategy is outlined in two parts: a high-level con-troller, which provides driving commands to follow a predefined3D path smoothly; and a low-level controller, able to counteractunmodelled  tissue-needle  nonlinearities  and  kinematic  modeluncertainties. A simulation that mimics the needle’s mechanicalbehavior during insertion is achieved by using an ExperimentalFitting  Model  (EFM),  obtained  from  previous  experimentaltrials. The Simulation results demonstrate the robustness andadaptability of the proposed control strategy.
AU  - Secoli,R
AU  - Rodriguez,y Baena F
DO  - 10.1109/BIOROB.2016.7523603
PB  - IEEE
PY  - 2016///
TI  - Adaptive path-following control for bio-inspired steerable needles
UR  - http://dx.doi.org/10.1109/BIOROB.2016.7523603
UR  - http://hdl.handle.net/10044/1/32580
ER  -
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