Inverse Kinematic Control of a Shape Memory Alloy Actuated Smart Needle for Percutaneous Intervention

摘要

This paper presents the development and control of a novel active needle for percutaneous intervention. Using vision feedback of the actual tip of the needle, inverse kinematics based closed loop control in tracking a 3D curved path is performed. Shape Memory Alloy (SMA) wires are deployed as actuators for the developed active needle system. In-air experiments are performed to evaluate and validate the inverse kinematic closed loop control performance of the needle in 3D curvilinear path tracking. The results obtained are acceptable within clinical limits.