Robot-Assisted Needle Steering
作者： Kyle Reed , Ann Majewicz , Vinutha Kallem , Ron Alterovitz , Ken Goldberg
关键词:
摘要: Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, considered to be one the simplest most minimally invasive procedures. Robot-assisted needle steering has potential improve effectiveness existing procedures enable new ones by allowing increased accuracy through more dexterous control needle-tip path acquisition targets not accessible straight-line trajectories. In this article, we describe robot-assisted needle-steering system that uses three integrated controllers: motion planner concerned with guiding around obstacles target in desired plane, planar controller maintains torsion compensator controls orientation about axis shaft.
berkeley.edu
researchgate.net 参考文章(22)
V.G. Mallapragada, N. Sarkar, T.K. Podder, Robot-Assisted Real-Time Tumor Manipulation for Breast Biopsy IEEE Transactions on Robotics. ,vol. 25, pp. 316- 324 ,(2009) , 10.1109/TRO.2008.2011418
Joseph M. Romano, Robert J. Webster, Allison M. Okamura, Teleoperation of Steerable Needles international conference on robotics and automation. pp. 934- 939 ,(2007) , 10.1109/ROBOT.2007.363105
Thomas A. Krouskop, Thomas M. Wheeler, Faouzi Kallel, Brian S. Garra, Timothy Hall, Elastic Moduli of Breast and Prostate Tissues under Compression Ultrasonic Imaging. ,vol. 20, pp. 260- 274 ,(1998) , 10.1177/016173469802000403
Wooram Park, Yunfeng Wang, Gregory S. Chirikjian, The Path-of-probability Algorithm for Steering and Feedback Control of Flexible Needles The International Journal of Robotics Research. ,vol. 29, pp. 813- 830 ,(2010) , 10.1177/0278364909357228
E. Clif Burdette, D. Caleb Rucker, Punit Prakash, Chris J. Diederich, Jordon M. Croom, Clyde Clarke, Philipp Stolka, Titania Juang, Emad M. Boctor, Robert J. Webster III, The ACUSITT ultrasonic ablator: the first steerable needle with an integrated interventional tool Proceedings of SPIE. ,vol. 7629, ,(2010) , 10.1117/12.845972
Niki Abolhassani, Rajni Patel, Mehrdad Moallem, Needle insertion into soft tissue: a survey. Medical Engineering & Physics. ,vol. 29, pp. 413- 431 ,(2007) , 10.1016/J.MEDENGPHY.2006.07.003
Wooram Park, Kyle B Reed, Allison M Okamura, Gregory S Chirikjian, Estimation of model parameters for steerable needles international conference on robotics and automation. pp. 3703- 3708 ,(2010) , 10.1109/ROBOT.2010.5509380
V. Kallem, N.J. Cowan, Image Guidance of Flexible Tip-Steerable Needles international conference on robotics and automation. ,vol. 25, pp. 191- 196 ,(2009) , 10.1109/TRO.2008.2010357
M. Torabi, K. Hauser, R. Alterovitz, V. Duindam, K. Goldberg, Guiding medical needles using single-point tissue manipulation international conference on robotics and automation. pp. 4254- 4259 ,(2009) , 10.1109/ROBOT.2009.5152853
Ron Alterovitz, Michael Branicky, Ken Goldberg, Motion Planning Under Uncertainty for Image-guided Medical Needle Steering: The International Journal of Robotics Research. ,vol. 27, pp. 1361- 1374 ,(2008) , 10.1177/0278364908097661