When searching for genuinely sustainable building design and technology-designs that go
beyond conventional sustainability to be truly restorative-we often find that nature got there …

Steerable needles are desired for many applications within the medical field. One such
application is high-dose rate (HDR) brachytherapy. In this paper, an adaptive control system …

Percutaneous intervention is a commonly used surgical procedure for many diagnostic and
therapeutic operations. Target motion in soft tissue during an intervention caused by tissue …

Steerable needles can improve many medical procedures through their ability to reach
targets behind critical or impenetrable anatomical structures, such as blood vessels and …

The breadth and heterogeneity of modern surgical robotic systems warrants a modular
software architecture to reduce software development effort. Within this context, as the …