Challenges of continuum robots in clinical context: a review
With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …
of progress slowed as limits of size and controllable degrees of freedom were reached …
Surgical applications of compliant mechanisms: A review
TL Thomas… - Journal of …, 2021 - asmedigitalcollection.asme.org
Current surgical devices are mostly rigid and are made of stiff materials, even though their
predominant use is on soft and wet tissues. With the emergence of compliant mechanisms …
predominant use is on soft and wet tissues. With the emergence of compliant mechanisms …
Permanent magnet array–driven navigation of wireless millirobots inside soft tissues
Creating wireless milliscale robots that navigate inside soft tissues of the human body for
medical applications has been a challenge because of the limited onboard propulsion and …
medical applications has been a challenge because of the limited onboard propulsion and …
Design choices in needle steering—A review
NJ Van De Berg, DJ Van Gerwen… - IEEE/ASME …, 2014 - ieeexplore.ieee.org
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 …
This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means …
Magnetic control of a flexible needle in neurosurgery
Minimally invasive neurosurgery does not require large incisions and openings in the skull
to access the desired brain region, which often results in a faster recovery with fewer …
to access the desired brain region, which often results in a faster recovery with fewer …
Needle steering in 3-D via rapid replanning
Steerable needles have the potential to improve the effectiveness of needle-based clinical
procedures such as biopsy and drug delivery by improving targeting accuracy and reaching …
procedures such as biopsy and drug delivery by improving targeting accuracy and reaching …
Issues in closed-loop needle steering
C Rossa, M Tavakoli - Control engineering practice, 2017 - Elsevier
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 …
Image-guided biopsy in the era of personalized cancer care: proceedings from the society of interventional radiology research consensus panel
AL Tam, HJ Lim, II Wistuba, A Tamrazi… - Journal of vascular …, 2015 - pmc.ncbi.nlm.nih.gov
BACKGROUND Image-guided percutaneous biopsy is a common procedure in oncology,
integral to confirming the diagnosis of cancer, staging the disease, and determining tumor …
integral to confirming the diagnosis of cancer, staging the disease, and determining tumor …
3-D ultrasound-guided robotic needle steering in biological tissue
TK Adebar, AE Fletcher… - IEEE Transactions on …, 2014 - ieeexplore.ieee.org
Robotic needle steering systems have the potential to greatly improve medical interventions,
but they require new methods for medical image guidance. Three-dimensional (3-D) …
but they require new methods for medical image guidance. Three-dimensional (3-D) …
Sliding mode control of steerable needles
Steerable needles can potentially increase the accuracy of needle-based diagnosis and
therapy delivery, provided they can be adequately controlled based on medical image …
therapy delivery, provided they can be adequately controlled based on medical image …