Nonholonomic modeling of needle steering

Springer Tracts in Advanced Robotics

Volumn 21, Issue , 2006, Pages 35-44

  Webster III, Robert J ^a   Cowan, Noah J ^a   Chirikjian, Gregory ^a   Okamura, Allison M ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); GROUP THEORY; LIE GROUPS; MOTION PLANNING; ROBOTICS; TISSUE;

BEVEL-TIP NEEDLES; EXPERIMENTAL VALIDATIONS; MINIMALLY-INVASIVE TECHNIQUE; MODEL PARAMETERS; NONHOLONOMIC MODEL; ROBOTIC DEVICES; TARGETING ACCURACY; THREE DEGREE OF FREEDOMS;

NEEDLES;

EID: 33646690416     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/11552246_4     Document Type: Article

References (14)

1. R. Alterovitz, J. Pouliot, R. Taschereau, I-C Hsu, and K. Goldberg. Sensorless planning for medical needle insertion procedures. IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3337-3343, 2003.
2. P. N. Brett, A. J. Harrison, T. A. Thomas, and A. Carr. Simulation of resistance forces acting on surgical needles. Proceedings of the Institution of Mechanical Engineers, 211 (H4):335-347, 1997.
3. W. Daum. A deflectable needle assembly, 2003. Patent 5,572,593.
4. S. P. DiMaio and S. E. Salcudean. Needle insertion modeling and simulation. IEEE Transactions on Robotics and Automation, 19(5):864-875, 2003.
5. S. P. DiMaio and S. E. Salcudean. Needle steering and model-based trajectory planning. Medical Image Computing and Computer-Assisted Intervention, pages 33-40, 2003.
6. R. Ebrahimi, S. Okzawa, R. Rohling, and S. E. Salcudean. Hand-held steerable needle device. Medical Image Computing and Computer-Assisted Intervention, pages 223-230, 2003.
7. P. Gorman, T. Krummel, R. Webster, M. Smith, and D. Hutchens. A prototype haptic lumbar puncture simulator. Proceedings of Medicine Meets Virtual Reality, pages 106-109, 2000.
8. L. Hiemenz, J. S. McDonald, D. Stredney, and D. Sessanna. A physiologically valid simulator for training residents to perform an epidural block. Proceedings of the IEEE Biomedical Engineering Conference, pages 170-173, 1996.
9. H. Kataoka, T. Washio, M. Audette, and K. Mizuhara. A model for relations between needle deflection, force, and thickness on penetration. Medical Image Computing and Computer-Assisted Intervention, pages 966-974, 2001.
10. J. C. Lagarias, M. H. Wright, and P. E. Wright. Convergence properties of the nelder-mead simplex method in low dimensions. SIAM Journal of Optimization, 9(1):112-147, 1998.
11. K. Murphy. Department of Radiology, The Johns Hopkins Medical Institutions. Personal Communication, 2003.
12. R. M. Murray, Z. Li, and S. S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press, Ann Arbor MI, 1994.
13. M. D. O'Leary, C. Simone, T. Washio, K. Yoshinaka, and A. M. Okamura. Robotic needle insertion: Effects of friction and needle geometry. IEEE International Conference on Robotics and Automation, 2003. In press.
14. C. Simone and A. M. Okamura. Haptic modeling of needle insertion for robot-assisted percutaneous therapy. IEEE International Conference on Robotics and Automation, pages 2085-2091, 2002.