Needle steering and motion planning in soft tissues

TitleNeedle steering and motion planning in soft tissues
Publication TypeJournal Article
Year of Publication2005
AuthorsDiMaio, S. P., and S. E. Salcudean
JournalBiomedical Engineering, IEEE Transactions on
Pagination965 -974
Date Publishedjun.
KeywordsAnimals, Biological, biological tissues, biomechanics, biopsy, computer simulation, Computer-Assisted, Connective Tissue, deformation, Diagnosis, Drug Therapy, elasticity, Humans, Injections, Jacobian matrices, Mechanical, Models, motion planning, Movement, Needle, needle deflection, needle manipulation Jacobian, needle steering, needle tip placement, needles, numerical needle insertion model, obstacle avoidance, patient treatment, Physical Stimulation, potential-field-based path planning, robotics, soft tissue deformation, Stress

In this work, needle insertion into deformable tissue is formulated as a trajectory planning and control problem. A new concept of needle steering has been developed and a needle manipulation Jacobian 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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