Planar Trajectory Following Control With A Curvature-Controllable Steerable Needle: Preliminary Modeling And Simulation

Robotic flexible needle systems attracted lots of research groups' interests because of its advantages such as obstacles avoiding, reaching deep-seated target and following a curvilinear path. To avoid misdiagnosis of biopsies or penetrating some important organs, accurate needle tip placement is critical during surgical operation. However, due to tissues inhomogeneous and deformation, it is difficult to achieve high trajectory following accuracy with open-loop steering system. In this paper, we developed a proportional-derivative (PD) closed-loop control system for our curvature-controllable steerable (CCS) needle. We implement this control system with simulation system using the kinematics which is derived from a car-like robot model. The simulation results validate the feasibility of our PD-based feedback control system.