Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target
anatomy, surrounding tissue, and instrumentation, but there are significant challenges in …

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

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

In percutaneous needle insertions, cutting forces at the needle tip deflect the needle and
increases targeting error. Thus, modeling needle-tissue interaction in biological tissue is …

This paper introduces a new approach for the control of a robotic system interacting with
deformable structures. The method is applied to needle insertion procedures, which are …

Robotics-assisted needle steering can enhance targeting accuracy in percutaneous
interventions. This paper presents a novel dynamical model for robotically controlled needle …

Flexible bevel-tipped needles are often used for needle insertion in minimally invasive
surgical techniques due to their ability to be steered in cluttered environments. Shape …

Needle insertion is the most basic skill in medical care, and training has to be imparted not
only for physicians but also for nurses and paramedics. In most needle insertion procedures …

The use of subcutaneous and percutaneous needle and catheter insertions is standard in
modern clinical practice. However, a common issue with bevel tip surgical needles is their …

Purpose An accurate position of the needle is vitally important in low‐dose‐rate seed
implantation brachytherapy. Our paper aims to implement a mixed reality navigation system …