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...
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...
Abstract. A novel interactive virtual needle insertion simulation is presented. The insertion model simulates three-degree-of-freedom needle motion, physically-based needle forces,...
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, ...