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ICRA
2010
IEEE
179views Robotics» more  ICRA 2010»
9 years 9 months ago
Needle path planning for digital breast tomosynthesis biopsy
This paper presents a new needle path planning method for digital breast tomosynthesis biopsy. Needle insertion planning into deformable tissue for breast biopsy procedure is a cha...
Laurence Vancamberg, Anis Sahbani, Serge Muller, G...
HAPTICS
2002
IEEE
10 years 4 months ago
Simulated Interactive Needle Insertion
A novel interactive virtual needle insertion simulation is presented. Simulation models are based upon planar tissue deformations and forces measured during needle insertion exper...
Simon P. DiMaio, S. E. Salcudean
ICRA
2003
IEEE
148views Robotics» more  ICRA 2003»
10 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
2005
IEEE
118views Robotics» more  ICRA 2005»
10 years 5 months ago
Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles
— We explore motion planning for a new class of highly flexible bevel-tip medical needles that can be steered to previously unreachable targets in soft tissue. Planning for thes...
Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Ok...
IROS
2009
IEEE
155views Robotics» more  IROS 2009»
10 years 6 months ago
Kinematic calibration of a parallel robot for small animal biopsies
— In biomedical research it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology can offer a reliable solution for accurate needle inserti...
Myun Joong Hwang, Ozkan Bebek, Fan Liang, Baowei F...
IROS
2009
IEEE
129views Robotics» more  IROS 2009»
10 years 6 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...
ICRA
2009
IEEE
165views Robotics» more  ICRA 2009»
10 years 6 months ago
Guiding medical needles using single-point tissue manipulation
— This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures to improve targeting accuracy and to help avoid damaging sensitive tissues. T...
Meysam Torabi, Kris K. Hauser, Ron Alterovitz, Vin...
MICCAI
2004
Springer
11 years 22 days ago
Liver Motion Due to Needle Pressure, Cardiac, and Respiratory Motion During the TIPS Procedure
TIPS (Transjugular Intrahepatic Portosystemic Shunt) is an effective treatment for portal hypertension. However, during the procedure, respiration, needle pressure, and possibly ot...
Vijay Venkatraman, Mark H. Van Horn, Susan Weeks, ...
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