Sivaraman D.Wiratkapun C.Pillai B.M.Suthakorn J.Methachan B.Nakdhamabhorn S.Ongwattanakul S.Mahidol University2025-04-082025-04-082024-01-01IEEE International Conference on Robotics and Biomimetics, ROBIO No.2024 (2024) , 104-11029943566https://repository.li.mahidol.ac.th/handle/20.500.14594/109364This preliminary study investigated sensor-fusion methods for accurate motion estimation in a bio-inspired dual-sheath needle system designed for biopsy applications. The needle system draws inspiration from the segmented dual-sheath mechanism of ovipositors found in Hymenoptera species, which allows controlled and precise movement. The aim is to develop a reliable tracking system for both the needle tip and base, which is essential for accurate needle placement during biopsy procedures. A hybrid tracking approach was used to achieve this, combining image-based tracking of the needle tip with an Inertial Measurement Unit (IMU) sensor for needle-base tracking. An Adaptive Polynomial Kalman Filter (APKF) was applied to improve the motion estimation accuracy. Performance tests on a linear-rail system demonstrated the ability of the developed system to provide accurate and consistent motion estimates. The results suggest that this bio-inspired needle system using sensor fusion and advanced filtering holds promise for use in medical robotics, potentially improving the precision of biopsy procedures.MathematicsComputer ScienceEngineeringConference PaperSCOPUS10.1109/ROBIO64047.2024.109076982-s2.0-10500150237729943574