The International Journal of Robotics Study, Ahead of Publish.
Making use of steerable needles to make it possible for program modification and bent trajectories can boost medical results in many medical treatments consisting of electrode positioning for deep mind excitement. In this job, a literally inspired kinematic version for a proactively guided magnetic-tipped needle is utilized in closed-loop control to do insertion trajectories. The used control regulation is obtained making use of the Lyapunov redesign. Simulation outcomes reveal this control technique to be exact for a wide variety of problems consisting of randomized target trajectories. Control is executed experimentally in a mind cells phantom for both first setting balanced out healing and bent trajectories. Converged mistake results typical 0.52 mm from target trajectory. Simulation outcomes show the effectiveness of the control application, while speculative outcomes go beyond the precision needed for the target application, motivating future usage in a scientific setup. Past needle insertion, this job has ramifications generally car guiding, as this version and control can relate to systems with comparable kinematics such as watercrafts and rolled cars that might gain from an unwinded slip restraint.
发布者：Richard L. Pratt，转转请注明出处：https://robotalks.cn/magnetic-needle-steering-control-using-lyapunov-redesign/
