Needle insertion in soft tissue has attracted considerable attention in recent years due to its
application in minimally invasive percutaneous procedures such as biopsies and …

Surgical simulators present a safe and potentially effective method for surgical training, and
can also be used in robot-assisted surgery for pre-and intra-operative planning. Accurate …

As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip
causes the needle to bend. We propose that, by using nonholonomic kinematics, control …

A methodology for estimating the force distribution that occurs along a needle shaft during
insertion is described. An experimental system for measuring planar tissue phantom …

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 medical …

During needle-based procedures, transitions between tissue layers often lead to rupture
events that involve large forces and tissue deformations and produce uncontrollable crack …

In this work, needle insertion into deformable tissue is formulated as a trajectory planning
and control problem. A new concept of needle steering has been developed and a needle …

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 these …

A novel interactive virtual needle insertion simulation is presented. The simulation models
are based on measured planar tissue deformations and needle insertion forces. Since the …

We develop a new motion planning algorithm for a variant of a Dubins car with binary
left/right steering and apply it to steerable needles, a new class of flexible bevel-tip medical …