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Lyapunov-based nonlinear model predictive control for the path following of bevel-tip flexible needles in 3D environment

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Abstract

This paper develops a Lyapunov-based nonlinear model predictive control (NMPC) method for the path-following task of bevel-tip flexible needle in 3D environments. First, a nonholonomic and nonlinear kinematic model of the bevel-tip flexible needle system is established to describe the needle inserting and steering motion. Then, an efficient NMPC strategy is designed to deal with the system nonlinearity based on the kinematic model and further guide the flexible needle to accurately track the desired 3-dimensional path. Specifically, the control Lyapunov function is also integrated into the NMPC framework to ensure the operational safety of the bevel-tip flexible needle system in human tissue. Finally, simulation experiments are carried out to demonstrate the effectiveness of the proposed approach.

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No datasets were generated or analyzed during the current study.

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Funding

This work was funded by the National Key Research and Development Program of China (Grant No.2018YFE0206900).

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Authors and Affiliations

  1. School of Reliability and System Engineering, Beihang University, Beijing, 100191, China

    Kai Jiang

  2. School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China

    Zhi Qi, Chaojie Zhu, Hengkai Sun & Hui Zhang

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  1. Kai Jiang
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  2. Zhi Qi
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  3. Chaojie Zhu
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  4. Hengkai Sun
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  5. Hui Zhang
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Contributions

Kai Jiang wrote the main manuscript and implemented the research work. Zhi Qi provided the main research idea. Chaojie Zhu helped with the simulation code. Hengkai Sun prepared the figures. Hui Zhang reviewed the manuscript and provided the funding.

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Correspondence to Zhi Qi.

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Jiang, K., Qi, Z., Zhu, C. et al. Lyapunov-based nonlinear model predictive control for the path following of bevel-tip flexible needles in 3D environment. SIViP (2024). https://doi.org/10.1007/s11760-024-03184-3

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  • DOI: https://doi.org/10.1007/s11760-024-03184-3

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