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» Design Considerations for Robotic Needle Steering
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ICRA
2005
IEEE
113views Robotics» more  ICRA 2005»
10 years 4 months ago
Design Considerations for Robotic Needle Steering
— Many medical procedures involve the use of needles, but targeting accuracy can be limited due to obstacles in the needle’s path, shifts in target position caused by tissue de...
Robert J. Webster III, Jasenka Memisevic, Allison ...
ISER
2004
Springer
182views Robotics» more  ISER 2004»
10 years 4 months ago
Nonholonomic Modeling of Needle Steering
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, contro...
Robert J. Webster III, Noah J. Cowan, Gregory S. C...
IJRR
2010
125views more  IJRR 2010»
9 years 8 months ago
Mechanics of Flexible Needles Robotically Steered through Soft Tissue
The tip asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. This enables robotic needle steering, which can be used in me...
Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, ...
ICRA
2009
IEEE
92views Robotics» more  ICRA 2009»
10 years 5 months ago
Observations and models for needle-tissue interactions
— The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. In this study we present a mechanics-based model that calculat...
Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, ...
IROS
2007
IEEE
136views Robotics» more  IROS 2007»
10 years 5 months ago
Task-induced symmetry and reduction in kinematic systems with application to needle steering
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
Vinutha Kallem, Dong Eui Chang, Noah J. Cowan
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