We present a new optimization-based approach for robotic motion planning among
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …

Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …

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 …

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

Variable stiffness enables the safe and effective operation of the minimally invasive surgical
instruments. In this article, we propose a continuously variable stiffness mechanism of the …

Steerable needles have the potential for accurate needle tip placement even when the
optimal path to a target tissue is curvilinear, thanks to their ability to steer, which is an …

Brachytherapy is a cancer treatment procedure where long needles are inserted toward an
inner body target in order to deliver radioactive seeds that treat the cancer cells. Controlling …

Prostate brachytherapy is a validated treatment for prostate cancer. During the procedure,
the accuracy of needle placement is critical to the treatment's effectiveness. However, the …

Percutaneous interventions via minimally invasive surgical systems can provide patients
with better outcomes and faster recovery times than open surgeries. Accurate needle …

Needles used in percutaneous insertion must be as thin as possible to minimize
invasiveness. However, using extra-thin needles with a diameter less than 25G (0.53 mm …