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

Ultrasound (US) is commonly used in percutaneous needle procedures for real-time
guidance. Accurate and robust automatic needle tracking is highly desirable to address the …

Visual trackers are the most commonly adopted approach for needle tip tracking in
ultrasound (US)-based procedures. However, they often perform unsatisfactorily in …

This paper presents the design, modeling, and control of a meso-scale torsion actuator
based on shape memory alloy (SMA) for image-guided surgical procedures. Develo** a …

A significant hurdle of accurate needle tip placement in percutaneous needle-based
prostate interventions is unmodeled needle deflection and tissue deformation during …

The recent introduction of Magnetic Resonance Imaging (MRI)-actuated steerable catheters
lays the ground work for increasing the efficacy of cardiac catheter procedures. The MRI …

This letter presents the development of a mesoscale fiberoptic rotation sensor with a
diameter of 8 mm for a shape memory alloy (SMA) torsion actuator for neurosurgical …

This dissertation describes the development of a methodology for implementing robotic
systems for interventional procedures under intraoperative Magnetic Resonance Imaging …

We present a novel algorithm for needle tracking in ultrasound-guided needle insertion.
Most previous research assumes that in ultrasound images the needle is a straight and …

This paper presents the development of a fiberoptic rotation sensor for the motion feedback
of a meso-scale shape memory alloy (SMA) torsion actuator for a neurosurgical robot …