|Closed-loop Planar Fuzzy Control System for a Curvature-controllable Steerable Bevel-tip Needle
Binxiang Xu, Chen Zhou, and Seong Young Ko*
International Journal of Control, Automation, and Systems, vol. 16, no. 5, pp.2421-2431, 2018
Abstract : "Steerable needles are widely used in minimally invasive percutaneous medical procedures due to their
potential advantage of enhancing targeting accuracy while avoiding obstacles. However, several factors influence
the accuracy of needle tip placement, such as tissue deformation and inhomogeneity. For the accurate control
of a steerable needle, several advanced control algorithms have been developed. To overcome their complicated
procedures, this paper proposes a two-dimensional planar fuzzy control, which can be implemented intuitively
without exhaustive mathematical derivation. The proposed algorithm is integrated with a curvature-controllable
steerable bevel tip needle to follow the smooth curvilinear path. The experimental results showed that the proposed
controller achieves an accurate trajectory-following capability, in which its average tracking error measured 0.043
mm and the standard deviation measured 0.11 mm."
Closed-loop control, curvature-controllable, fuzzy control, steerable needle.