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Sliding mode control of a shape memory alloy actuated active flexible needle

Published online by Cambridge University Press:  07 May 2018

Felix Orlando Maria Joseph  and
Tarun Podder
Felix Orlando Maria Joseph*
Affiliation:
Department of Radiation Oncology, Case Western Reserve University, Cleveland, OH 44106, USA Department of Electrical Engineering, IIT Roorkee, Roorkee, Uttarakhand 247667, India
Tarun Podder*
Affiliation:
Department of Radiation Oncology, Case Western Reserve University, Cleveland, OH 44106, USA
*
*Corresponding author. E-mail: felixfee@iitr.ac.in
E-mail: txp172@case.edu
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Summary

In medical interventional procedures such as brachytherapy, biopsy and radio-frequency ablation, precise tracking through the preplanned desired trajectory is very essential. This important requirement is critical due to two major reasons: anatomical obstacle avoidance and accurate targeting for avoiding undesired radioactive dose exposure or damage to neighboring tissue and critical organs. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. The trajectory tracking performance of the needle is tested while having its actual movement in an artificial tissue phantom by giving various input reference trajectories such as multi-step and sinusoidal. Performance of the adaptive sliding mode controller is compared with that of the proportional, integral and derivative controller and is proved to be the effective method in the presence of the external disturbances.

Keywords

Medical InterventionsActive Flexible NeedleFeedback Control
Type
Articles
Information
Robotica , Volume 36 , Issue 8 , August 2018 , pp. 1188 - 1205
Copyright
Copyright © Cambridge University Press 2018 

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