Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins Uni...
Flexible needle insertion into viscoelastic tissue is modeled in this paper with a linear beam supported by virtual springs. Using this simplified model, the forward and inverse ki...
Abstract. A novel interactive virtual needle insertion simulation is presented. The insertion model simulates three-degree-of-freedom needle motion, physically-based needle forces,...
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 Jaco...
Abstract— Flexible needles with bevel tips are being developed as useful tools for minimally invasive surgery and percutaneous therapy. When such a needle is inserted into soft t...
Wooram Park, Kyle Brandon Reed, Allison M. Okamura...