22 search results - page 3 / 5 » Nonholonomic Modeling of Needle Steering |
ICRA
2009
IEEE
14 years 2 months ago
2009
IEEE
— The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. In this study we present a mechanics-based model that calculat...
IROS
2007
IEEE
14 years 1 months ago
2007
IEEE
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
ICRA
1993
IEEE
13 years 11 months ago
1993
IEEE
This paper addresses the problem of numerically finding an optimal path for a robot with non-holonomic constraints. A car like robot, whose turning radius is lower bounded is cons...
ICRA
2007
IEEE
14 years 1 months ago
2007
IEEE
— Physicians perform percutaneous therapies in many diagnostic and therapeutic procedures. Image guidance promises to improve targeting accuracy and broaden the scope of needle i...
ICRA
1995
IEEE
13 years 11 months ago
1995
IEEE
The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-w...