Here, we proposed an online parameter estimator using EKF to solve this problem. The detailed design is presented in this paper. Computer simulations and ...

Among various methods, Extended Kalman Filtering (EKF) is very useful for estimating the parameters of a nonlinear and time-varying system. Moreover, it can ...

Here, we proposed an online parameter estimator using EKF to solve this problem. The detailed design is presented in this paper. Computer simulations and ...

Here, we proposed an online parameter estimator using EKF to solve this problem. The detailed design is presented in this paper. Computer simulations and ...

Online Parameter Estimation for Surgical Needle Steering Model. ... online parameter estimator using EKF for parameter estimation of the needle steering model.

Needle steering with online parameter estimation. The steering direction (ϕ) and steering angle (φ) of the actuated-tip are calculated given the target location ...

Nov 16, 2006 · Results have shown that the model can track the needle tip trajectory with satisfactory accuracy even in the presence of large disturbances and ...

This paper proposes and validates a steering model to be capable of predicting the system dynamics during needle-tissue contact procedure and shows that the ...

We estimate the insertion point at time t = 0 by extrapolating. First, we fit a circle to the needle position readings. The use of a circle for extrapolation is ...

We present a method for steering the needle towards a target location in soft tissue. This method incorporates online parameter estimation in order to adapt for ...