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» Trajectory Optimization for Dynamic Needle Insertion
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ICRA
2005
IEEE
100views Robotics» more  ICRA 2005»
10 years 4 months ago
Trajectory Optimization for Dynamic Needle Insertion
Matt Heverly, Pierre Dupont, John K. Triedman
MICCAI
2004
Springer
10 years 3 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
IROS
2009
IEEE
129views Robotics» more  IROS 2009»
10 years 5 months ago
Planning fireworks trajectories for steerable medical needles to reduce patient trauma
— Accurate needle insertion in 3D environment is always a grand challenge. When multiple targets are located in the tissue, a procedure of inserting multiple needles from a singl...
Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Po...
MICCAI
2007
Springer
10 years 11 months ago
Multi-criteria Trajectory Planning for Hepatic Radiofrequency Ablation
In this paper, we propose a method based on multiple criteria to assist physicians in planning percutaneous RFA on liver. We explain how we extracted information from literature an...
Claire Baegert, Caroline Villard, Pascal Schreck, ...
IJRR
2010
125views more  IJRR 2010»
9 years 7 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, ...
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