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- W2891096420 abstract "Accurate tracking of a prescribed preplanned trajectory and anatomical obstacle avoidance are the two major challenges in Minimum Invasive Surgeries and percutaneous intervention procedures. This paper aims to address these challenges by the design and development of a novel smart four degrees of freedom (DOF) needling system with self-actuating capability to track the preplanned trajectory accurately. Out of the four DOF, three are for rotational movement and one for translational movement. The Smart Flexible Needle consists of a total of four actuators, three out of them are nitinol shape memory alloy wire actuator for rotational motion and one is a stepper motor paired with a Rack and Pinion arrangement for providing the translational movement of the entire needle at its base. Closed loop control of the developed needling system is performed using color image feedback using a monocular vision system. Finally, in-air experiments are performed along with simulation verifications, to test the efficacy of the proposed needle in tracking the given desired planar trajectory." @default.
- W2891096420 created "2018-09-27" @default.
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- W2891096420 date "2018-07-01" @default.
- W2891096420 modified "2023-09-27" @default.
- W2891096420 title "Design. Fabrication and Control of a Smart Flexible Needle for Minimal Invasive Surgical Procedures" @default.
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- W2891096420 doi "https://doi.org/10.1109/aim.2018.8452359" @default.
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