Needle Steering and Model-Based Trajectory Planning

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 Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potentialfield-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.

• Type: Conference
• Year: 2003
• Where: MICCAI
• Authors: Simon P. DiMaio, S. E. Salcudean
• Keywords: Medical Imaging, MICCAI 2003, Needle Manipulation Jacobian, Needle Tip Placement, Numerical Needle Insertion