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

作　　者：张少华 金鑫 叶鑫 张之敬 刘冰冰 邓勇军 

机构地区：[1]School of Mechanical Engineering,Beijing Institute of Technology

出　　处：《Journal of Beijing Institute of Technology》2013年第4期477-482,共6页北京理工大学学报（英文版）

基　　金：Supported by the National Natural Science Foundation of Scientific Instruments Basis of Special(51127004);the National Natural Science Foundation of Youth Science Foundation(51105036)

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 dur- ing the insertion make the needle deflect away from the planned path is given, and the normal meth- od 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 accord- ing to the fuzzy theory. Our experimental results show that the fuzzy controlling system presenting in the paper can better eliminate the deflection.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 dur- ing the insertion make the needle deflect away from the planned path is given, and the normal meth- od 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 accord- ing to the fuzzy theory. Our experimental results show that the fuzzy controlling system presenting in the paper can better eliminate the deflection.

关 键 词：needle insertion needle deflection fuzzy control force feedback 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]