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MICCAI
2003
Springer

Needle Steering and Model-Based Trajectory Planning

10 years 2 months ago
Needle Steering and Model-Based Trajectory Planning
Needle insertion for percutaneous therapies is formulated as a trajectory planning and control problem. A new concept of needle steering is developed and a Needle Manipulation Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potentialfield-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.
Simon P. DiMaio, S. E. Salcudean
Added 15 Nov 2009
Updated 15 Nov 2009
Type Conference
Year 2003
Where MICCAI
Authors Simon P. DiMaio, S. E. Salcudean
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