Needle steering and model-based trajectory planning

TitleNeedle steering and model-based trajectory planning
Publication TypeJournal Article
Year of Publication2003
AuthorsDiMaio, S. P., and S. E. Salcudean
Secondary AuthorsEllis, R. E., and T. M. Peters
JournalMedical Image Computing and Computer-Assisted Intervention - MICCAI 2003, PT 1

Needle insertion for percutaneous therapies is formulated as a trajectory planning and control problem. A new concept of needle Steering is developed and a Needle Manipulation Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potential-field-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.

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