Targeted drug delivery in the brain is instrumental in the treatment of lethal brain diseases,
such as glioblastoma multiforme, the most aggressive primary central nervous system …

Since the emergence of soft robotics around two decades ago, research interest in the field
has escalated at a pace. It is fuelled by the industry's appreciation of the wide range of soft …

The use of needles to access sites within organs is fundamental to many interventional
medical procedures both for diagnosis and treatment. Safely and accurately navigating a …

Abstract Minimally Invasive Procedures (MIPs) emerged as an alternative to more invasive
surgical approaches, offering patient benefits such as smaller incisions, less pain, and …

Objective: This paper presentsa safe and effective keyhole neurosurgery intra-operative
planning framework for flexible neurosurgical robots. The framework is intended to support …

The steerable needle becomes appealing in the neurosurgery intervention procedure
because of its flexibility to bypass critical regions inside the brain; with proper path planning …

In this paper, a new bevel-tip flexible needle path planning method based on the bee-
foraging learning particle swarm optimization (BFL-PSO) algorithm and the needle retraction …

Planning a safe trajectory for minimally invasive (keyhole) neurosurgery procedures require
avoiding critical anatomical structures such as blood vessels and ventricles while optimizing …

Path planning algorithms for minimally invasive neurosurgery involve avoiding critical
structures such as blood vessels and ventricles while following needle kinematics. The …

Background: We propose a three-dimensional path-planning method to generate optimized
surgical trajectories for steering flexible needles along curved paths while avoiding critical …