A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
A Surgery Simulation Supporting Cuts and Finite Element Deformation
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
A Model for Relations between Needle Deflection, Force, and Thickness on Needle Penetration
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Measurement of the Tip and Friction Force Acting on a Needle during Penetration
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Robotically Assisted Spine Needle Placement: Program Plan and Cadaver Study
CBMS '01 Proceedings of the Fourteenth IEEE Symposium on Computer-Based Medical Systems
Schemes for the identification of tissue types and boundaries at the tool point for surgical needles
IEEE Transactions on Information Technology in Biomedicine
Interactive simulation of surgical needle insertion and steering
ACM SIGGRAPH 2009 papers
A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures
International Journal of Robotics Research
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat
International Journal of Robotics Research
Mechanics of precurved-tube continuum robots
IEEE Transactions on Robotics
Image guidance of flexible tip-steerable needles
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Needle insertion parameter optimization for Brachytherapy
IEEE Transactions on Robotics
Robot-assisted real-time tumor manipulation for breast biopsy
IEEE Transactions on Robotics
Interactive Simulation of Flexible Needle Insertions Based on Constraint Models
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part II
Fast needle insertion to minimize tissue deformation and damage
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Observations and models for needle-tissue interactions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Controlling a robotically steered needle in the presence of torsional friction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Guiding medical needles using single-point tissue manipulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Planning fireworks trajectories for steerable medical needles to reduce patient trauma
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Motion planning for active cannulas
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The Path-of-probability Algorithm for Steering and Feedback Control of Flexible Needles
International Journal of Robotics Research
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics
International Journal of Robotics Research
Equilibrium Conformations of Concentric-tube Continuum Robots
International Journal of Robotics Research
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
Mechanics of Flexible Needles Robotically Steered through Soft Tissue
International Journal of Robotics Research
Kinematic modeling of bevel tip flexible needle
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Robot-Assisted Needle Steering Using a Control Theoretic Approach
Journal of Intelligent and Robotic Systems
Survey on model-based manipulation planning of deformable objects
Robotics and Computer-Integrated Manufacturing
Toward a deeper understanding of motion alternatives via an equivalence relation on local paths
International Journal of Robotics Research
Robotics and Autonomous Systems
Hi-index | 0.00 |
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, control, and path planning, an appropriately designed needle can be steered through tissue to reach a specified 3D target. Such steering capability could enhance targeting accuracy and may improve outcomes for percutaneous therapies, facilitate research on therapy effectiveness, and eventually enable new minimally invasive techniques. In this paper, we consider a first step toward active needle steering: design and experimental validation of a nonholonomic model for steering flexible needles with bevel tips. The model generalizes the standard three degree-of-freedom (DOF) nonholonomic unicycle and bicycle models to 6 DOF using Lie group theory. Model parameters are fit using experimental data, acquired via a robotic device designed for the specific purpose of inserting and steering a flexible needle. The experiments quantitatively validate the bevel-tip needle steering model, enabling future research in flexible needle path planning, control, and simulation.