Spinal cord injury patients are under daily risk for developing deep tissue injury which is a severe pressure ulcer that initiates in soft tissues at the bones’ proximity. We aim...
Sigal Portnoy, Nicolas Vuillerme, Yohan Payan, Ami...
— 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...
The tip asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. This enables robotic needle steering, which can be used in me...
Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, ...
— Intraoperative surface contour sensing can enable the registration of high-resolution three-dimensional preoperative images for precise guidance of surgical robots. This is par...
Rav A. Lathrop, D. Caleb Rucker, Robert J. Webster...
— This paper presents a methodology to simulate cuts in deformable objects. It proposes a simple physical model of cutting in combination with a large displacement (Green) strain...