Models that predict the soft tissue deformation caused by needle insertion could improve the accuracy of procedures such as brachytherapy and needle biopsy. Prior work on needle in...
Jessica R. Crouch, Chad M. Schneider, Josh Wainer,...
— 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...
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 methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. To validate the approach, an experimental system for ...
- There is a strong need to improve the tools clinicians use for training in procedures such as prostate brachytherapy where the success rate is directly related to the clinicianâ€...