Peer-reviewed veterinary case report
High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization.
- Year:
- 2025
- Authors:
- Wang Y et al.
- Affiliation:
- Department of Mechanical Engineering and the Laboratory of Computational Sensing and Robotics · United States
Abstract
This paper presents a unified framework for autonomous flexible needle control in soft tissues using real-time finite element (FE) simulation and cross-entropy (CE) optimization. The method combines a sampling-based model predictive controller (MPC) for trajectory tracking with a kinematic-based bang-bang strategy to coordinate needle insertion, lateral adjustments, and bevel rotations. Sparse electromagnetic (EM) tracking feedback enables needle state reconstruction and compensates for model uncertainties. Experiments in plastisol and <i>ex vivo</i> chicken breast phantoms show sub-millimeter targeting accuracy, with respective targeting errors 0.16 ± 0.29 mm and 0.22 ± 0.78 mm as reported by the tracker.
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Search related cases →Original publication: https://europepmc.org/article/MED/40958888