Robotic needle steering: state-of-the-art and research challenges
Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …
procedures utilizing robotics technology. Medical robotics range from minimally invasive …
Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review
P Li, Z Yang, S Jiang - Medical & Biological Engineering & Computing, 2018 - Springer
Image-guided robot-assisted minimally invasive surgery is an important medicine procedure
used for biopsy or local target therapy. In order to reach the target region not accessible …
used for biopsy or local target therapy. In order to reach the target region not accessible …
Issues in closed-loop needle steering
Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …
Estimation of fracture toughness of liver tissue: Experiments and validation
The mechanical interaction between the surgical tools and the target soft tissue is mainly
dictated by the fracture toughness of the tissue in several medical procedures, such as …
dictated by the fracture toughness of the tissue in several medical procedures, such as …
Surgical GAN: Towards real-time path planning for passive flexible tools in endovascular surgeries
Automatic surgical path planning of the passive flexible tool encounters a prohibitive
challenge, typically in endovascular surgery (ES). The key problem is that unstructured …
challenge, typically in endovascular surgery (ES). The key problem is that unstructured …
A 3-D ultrasound robotic prostate brachytherapy system with prostate motion tracking
N Hungr, M Baumann, JA Long… - IEEE Transactions on …, 2012 - ieeexplore.ieee.org
This paper describes a new 3-D ultrasound robotic prostate brachytherapy system. It uses a
stationary 3-D ultrasound probe rigidly fixed to a robotic needle insertion mechanism. The …
stationary 3-D ultrasound probe rigidly fixed to a robotic needle insertion mechanism. The …
Method for determining an insertion trajectory of a tool in a deformable tissular matrix and robotic system executing the method
US9265587B2 - Method for determining an insertion trajectory of a tool in a deformable tissular
matrix and robotic system executing the method - Google Patents US9265587B2 - Method for …
matrix and robotic system executing the method - Google Patents US9265587B2 - Method for …
Modeling and simulation of flexible needles
Needle insertion is performed in many clinical and therapeutic procedures. Tissue
displacement and needle bending which result from needle–tissue interaction make …
displacement and needle bending which result from needle–tissue interaction make …
Path planning for special robotic operations
The problem of robotic path planning has been the focus of countless investigations since
the early works of the'70s and, despite the large number of results available in literature, is …
the early works of the'70s and, despite the large number of results available in literature, is …
Remote-center-of-motion recommendation toward brain needle intervention using deep reinforcement learning
Brain needle intervention is a specific diagnosis and therapy procedure in brain disorders,
such as brain tumors and Parkinson's disease. Preoperative needle path planning is a vital …
such as brain tumors and Parkinson's disease. Preoperative needle path planning is a vital …