Development of a coordinated controller for robot-assisted shape memory alloy actuated needle for prostate...

Area of Science:

• Robotics
• Medical Devices
• Control Systems

Background:

• Percutaneous interventions require precise navigation of flexible instruments.
• Shape Memory Alloy (SMA) needles offer potential for minimally invasive procedures but present control challenges.
• Coordinated control is essential for accurate trajectory following with robot-actuated flexible needles.

Purpose of the Study:

• To develop and validate a coordinated control system for a robot and an SMA-actuated needle.
• To enable accurate curvilinear path following for percutaneous interventions.
• To improve the precision of needle-guided procedures.

Main Methods:

• A hierarchical control structure was implemented, with the robot as the outer loop and the SMA needle as the inner loop.
• The control system coordinates the robot's motion based on the needle's real-time deflection.
• Simulations were used to test the controller's performance in tracking complex trajectories.

Main Results:

• The coordinated control system effectively managed the robot and SMA needle to follow a desired curvilinear path.
• The controller demonstrated the ability to achieve acceptable accuracy in needle tip placement.
• Simulation results verified the efficacy of the integrated control strategy.

Conclusions:

• The developed coordinated control system enhances the accuracy of robot-driven SMA needles for percutaneous interventions.
• This approach offers a viable solution for precise navigation in minimally invasive procedures.
• Further research could explore real-world implementation and clinical validation.