5 search results - page 1 / 1 » Mechanics of Flexible Needles Robotically Steered through So... |
IJRR
2010
13 years 6 months ago
2010
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...
ICRA
2005
IEEE
14 years 2 months ago
2005
IEEE
— 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...
ISER
2004
Springer
14 years 2 months ago
2004
Springer
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...
IJRR
2008
13 years 9 months ago
2008
We develop a new motion planning algorithm for a variant of a Dubins car with binary left/right steering and apply it to steerable needles, a new class of flexible beveltip medica...
RSS
2007
13 years 10 months ago
2007
— We present a new motion planning framework that explicitly considers uncertainty in robot motion to maximize the probability of avoiding collisions and successfully reaching a ...