Abstract Owing to numerous advantages to patients, percutaneous intervention has become a popular research topic in recent decades. To improve trajectory following accuracy, many robotic steering systems have been developed using various advanced control algorithms. To overcome the complicated modeling procedures, this study proposed a three-dimensional (3D) feedback control method based on fuzzy logic for a steerable needle that did not require an exhaustive mathematical derivation. A 3D kinematic model of a curvature-controllable steerable (CCS) needle was obtained, and the spatial trajectory following controller using fuzzy logic for the CCS needle was presented. A series of simulations using the kinematic model were carried out to validate the accuracy of the model and control strategies. The experimental results showed that the proposed control system could accurately steer the CCS needle along a 3D path.

中文翻译：

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曲率可控可转向斜尖针使用模糊逻辑的 3D 反馈控制

摘要 由于对患者的诸多优势，经皮介入治疗已成为近几十年来的热门研究课题。为了提高轨迹跟随精度，已经使用各种先进的控制算法开发了许多机器人转向系统。为了克服复杂的建模程序，本研究提出了一种基于模糊逻辑的可操纵针的三维（3D）反馈控制方法，不需要详尽的数学推导。获得了曲率可控可转向 (CCS) 针的 3D 运动学模型，并提出了使用模糊逻辑的 CCS 针的空间轨迹跟随控制器。使用运动学模型进行了一系列仿真，以验证模型和控制策略的准确性。