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» Needle Insertion Modelling and Simulation
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MICCAI
2004
Springer
11 years 5 months ago
Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapies
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...
Daniel Glozman, Moshe Shoham
ICRA
2003
IEEE
148views Robotics» more  ICRA 2003»
11 years 5 months ago
Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis
− To facilitate training and planning for medical procedures such as prostate brachytherapy, we are developing an interactive simulation of needle insertion and radioactive seed ...
Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot,...
ICRA
2002
IEEE
152views Robotics» more  ICRA 2002»
11 years 4 months ago
Needle Insertion Modelling and Simulation
Abstract—A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. To validate the approach, an experimental system for ...
Simon P. DiMaio, S. E. Salcudean
MICCAI
2007
Springer
12 years 22 days ago
Modeling of Needle-Tissue Interaction Using Ultrasound-Based Motion Estimation
Abstract. A needle-tissue interaction model is an essential part of every needle insertion simulator. In this paper, a new experimental method for the modeling of needle-tissue int...
Ehsan Dehghan, Xu Wen, Reza Zahiri-Azar, Maud Marc...
MICCAI
2003
Springer
12 years 20 days 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 Jaco...
Simon P. DiMaio, S. E. Salcudean
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