5 search results - page 1 / 1 » Design Considerations for Robotic Needle Steering |
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— 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...
ISER
2004
Springer
13 years 10 months ago
2004
Springer
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...
IJRR
2010
13 years 1 months ago
2010
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...
ICRA
2009
IEEE
13 years 11 months ago
2009
IEEE
— 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...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— 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...