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ICRA
2010
IEEE
137views Robotics» more  ICRA 2010»
9 years 2 months ago
Evaluation of robotic needle steering in ex vivo tissue
Abstract— Insertion velocity, tip asymmetry, and shaft diameter may influence steerable needle insertion paths in soft tissue. In this paper we examine the effects of these vari...
Ann Majewicz, Thomas R. Wedlick, Kyle Brandon Reed...
BIBE
2008
IEEE
113views Bioinformatics» more  BIBE 2008»
9 years 5 months ago
Medical needle steering for lung biopsy: Experimental results in tissue phantoms using a robotic needle driver
- Needle steering is a commonly used technique in the medical field as it enables physicians to more precisely reach the target tissue. In this paper we describe our interest in ne...
Jienan Ding, Dan Stoianovici, Doru Petrisor, Pierr...
ISER
2004
Springer
182views Robotics» more  ISER 2004»
9 years 9 months ago
Nonholonomic Modeling of Needle Steering
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, contro...
Robert J. Webster III, Noah J. Cowan, Gregory S. C...
ICRA
2005
IEEE
113views Robotics» more  ICRA 2005»
9 years 9 months ago
Design Considerations for Robotic Needle Steering
— Many medical procedures involve the use of needles, but targeting accuracy can be limited due to obstacles in the needle’s path, shifts in target position caused by tissue de...
Robert J. Webster III, Jasenka Memisevic, Allison ...
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