Fuzzy control method to minimize the needle deflection during needle insertion therapy

被引：0

作者：

张少华 ^{[1
]}

金鑫 ^{[1
]}

叶鑫 ^{[1
]}

张之敬 ^{[1
]}

刘冰冰 ^{[1
]}

邓勇军 ^{[1
]}

机构：

[1] School of Mechanical Engineering,Beijing Institute of Technology

来源：

Journal of Beijing Institute of Technology | 2013年 / 22卷 / 04期

关键词：

needle insertion; needle deflection; fuzzy control; force feedback;

D O I：

10.15918/j.jbit1004-0579.2013.04.012

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

A fuzzy control algorithm is adopted to help the needle hit the target more accurately.The experimental setup for the needle insertion is built up to validate the algorithm.How the forces during the insertion make the needle deflect away from the planned path is given,and the normal method correcting the deflection is obtained accordingly.Because the normal method cannot perform well for correction,a fuzzy controller is established.The input module,output module,fuzzification module,defuzzification module and inference engine for the controller are given respectively according to the fuzzy theory.Our experimental results show that the fuzzy controlling system presenting in the paper can better eliminate the deflection.

引用

页码：477 / 482

页数：6

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