Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target
anatomy, surrounding tissue, and instrumentation, but there are significant challenges in …

In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

Alignment errors can arise during needle tip placement in deep-seated tissue structures.
This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means …

Multi-objective optimization problems are ubiquitous in robotics, eg, the optimization of a
robot manipulation task requires a joint consideration of grasp pose configurations …

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 …

This paper presents a robotic system for steering under real-time fluoroscopic guidance a
flexible needle in soft tissue. Given a target and possible obstacle locations, the computer …

We present a new motion planning framework that explicitly considers uncertainty in robot
motion to maximize the probability of avoiding collisions and successfully reaching a goal. In …

Many medical procedures involve the use of needles, but targeting accuracy can be limited
due to obstacles in the needle's path, shifts in target position caused by tissue deformation …

Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …

As flexible bevel tip needles are inserted into tissue, a deflection force causes the needle to
bend with a curvature dependent on relative stiffness and bevel angle. By constantly …