In the field of minimally invasive interventional therapy, the related research on the soft
tissue puncture robot and its technology based on the flexible steerable needle as a …

Prostate cancer is the second most common malignancy in American men. High-dose-rate
brachytherapy is a popular treatment technique in which a large, localized radiation dose is …

Background Despite using a variety of path‐finding algorithms that use tracts, the most
significant advancement in this study is considering the values of all brain areas by doing …

Steerable bevel-tip needles offer higher maneuverability independent of insertion depth and
consequently are preferred for many needle-steering applications compared with symmetric …

Background Saturated biopsy is widely used in a histopathological examination of prostate
biopsy surgery by expanding the target regions and the increasing the number of insertions …

Flexible-needle percutaneous puncture is a widely used medical technique in clinical
practice and is known for its advantages of minimal patient, fast recovery, and ease of …

This chapter will explore certain applications of control engineering for improving the
performance of robotic and mechatronic systems for therapies and surgeries, we will …

In this paper, we propose a new insertion plan for steerable flexible needles with which we
can target multiple locations in the plane with a single entry point (ie port). The method is …

Success of any needle-based medical procedures depends on accurate placement of the
needle at the target location. However, accurate targeting and control of flexible self …

This dissertation focuses on robotics technology and its applications to medicine. Major
research topics can be divided into two main categories: novel designs of robot systems for …