Motion planning with sequential convex optimization and convex collision checking
We present a new optimization-based approach for robotic motion planning among
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …
Robotic needle steering: state-of-the-art and research challenges
Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …
procedures utilizing robotics technology. Medical robotics range from minimally invasive …
Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review
P Li, Z Yang, S Jiang - Medical & Biological Engineering & Computing, 2018 - Springer
Image-guided robot-assisted minimally invasive surgery is an important medicine procedure
used for biopsy or local target therapy. In order to reach the target region not accessible …
used for biopsy or local target therapy. In order to reach the target region not accessible …
Issues in closed-loop needle steering
C Rossa, M Tavakoli - Control engineering practice, 2017 - Elsevier
Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …
Continuously variable stiffness mechanism using nonuniform patterns on coaxial tubes for continuum microsurgical robot
Variable stiffness enables the safe and effective operation of the minimally invasive surgical
instruments. In this article, we propose a continuously variable stiffness mechanism of the …
instruments. In this article, we propose a continuously variable stiffness mechanism of the …
3-D path-following control for steerable needles with fiber Bragg gratings in multi-core fibers
A Donder, FR y Baena - IEEE Transactions on Biomedical …, 2022 - ieeexplore.ieee.org
Steerable needles have the potential for accurate needle tip placement even when the
optimal path to a target tissue is curvilinear, thanks to their ability to steer, which is an …
optimal path to a target tissue is curvilinear, thanks to their ability to steer, which is an …
Multiactuator haptic feedback on the wrist for needle steering guidance in brachytherapy
Brachytherapy is a cancer treatment procedure where long needles are inserted toward an
inner body target in order to deliver radioactive seeds that treat the cancer cells. Controlling …
inner body target in order to deliver radioactive seeds that treat the cancer cells. Controlling …
A review on the techniques used in prostate brachytherapy
Y Li, C Yang, A Bahl, R Persad… - Cognitive Computation …, 2022 - Wiley Online Library
Prostate brachytherapy is a validated treatment for prostate cancer. During the procedure,
the accuracy of needle placement is critical to the treatment's effectiveness. However, the …
the accuracy of needle placement is critical to the treatment's effectiveness. However, the …
[HTML][HTML] Biologically inspired surgical needle steering: technology and application of the programmable bevel-tip needle
E Matheson, F Rodriguez y Baena - Biomimetics, 2020 - mdpi.com
Percutaneous interventions via minimally invasive surgical systems can provide patients
with better outcomes and faster recovery times than open surgeries. Accurate needle …
with better outcomes and faster recovery times than open surgeries. Accurate needle …
Histological evaluation of tissue damage caused by rotational needle insertion
R Tsumura, Y Takishita, Y Fukushima… - 2016 38th annual …, 2016 - ieeexplore.ieee.org
Needles used in percutaneous insertion must be as thin as possible to minimize
invasiveness. However, using extra-thin needles with a diameter less than 25G (0.53 mm …
invasiveness. However, using extra-thin needles with a diameter less than 25G (0.53 mm …