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HAPTICS
2002
IEEE
14 years 8 days 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»
14 years 18 days 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
2007
IEEE
164views Robotics» more  ICRA 2007»
14 years 1 months ago
Image-guided Control of Flexible Bevel-Tip Needles
— Physicians perform percutaneous therapies in many diagnostic and therapeutic procedures. Image guidance promises to improve targeting accuracy and broaden the scope of needle i...
Vinutha Kallem, Noah J. Cowan
ISER
2004
Springer
182views Robotics» more  ISER 2004»
14 years 20 days 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
118views Robotics» more  ICRA 2005»
14 years 27 days 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...