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MICCAI
2002
Springer
11 years 3 months ago
Needle Insertion Modelling for the Interactive Simulation of Percutaneous Procedures
Abstract. A novel interactive virtual needle insertion simulation is presented. The insertion model simulates three-degree-of-freedom needle motion, physically-based needle forces,...
Simon P. DiMaio, S. E. Salcudean
MICCAI
2004
Springer
10 years 8 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
2006
IEEE
135views Robotics» more  ICRA 2006»
10 years 9 months ago
Reality-based Needle Insertion Simulation for Haptic Feedback in Prostate Brachytherapy
- There is a strong need to improve the tools clinicians use for training in procedures such as prostate brachytherapy where the success rate is directly related to the clinicianâ€...
James T. Hing, Ari D. Brooks, Jaydev P. Desai
ICRA
2002
IEEE
113views Robotics» more  ICRA 2002»
10 years 7 months ago
Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy
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...
Christina Simone, Allison M. Okamura
IJRR
2010
125views more  IJRR 2010»
10 years 6 days 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, ...
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