Teleoperation of steerable needles

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 934-939

  Romano, Joseph M ^a   Webster III, Robert J ^a   Okamura, Allison M ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); DIAGNOSIS; HAPTIC INTERFACES; NONINVASIVE MEDICAL PROCEDURES; REMOTE CONTROL; TISSUE;

NONHOLONOMIC SYSTEM; NONLINEAR HYBRID CONTROL; OPENLOOP-CONTROLLED SPIN; STEERABLE NEEDLES; SUBSURFACE TARGETS;

NEEDLES;

EID: 36348980494     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363105     Document Type: Conference Paper

References (16)

1. R. Alterovitz, M. Branicky, and K. Goldberg. Constant-curvature motion planning under uncertainty with applications in image-guided medicai needle steering. In Workshop on the Algorithmic Foundations of Robotics, July 2006.
2. R. Alterovitz, K. Goldberg, and.A. Okamura. Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1652-1657, Apr. 2005.
3. R. Alterovitz, A, Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura. Steering flexible needles under markov motion uncertainty. In Proc. IEEE/RSJ Int. Conf. oh Intelligent Robots and Systems, pages 120-125, Aug, 2005.
4. J.-G. S. Demers, J. M. A. Boelen, and I. P. W. Sinclair. Freedom 6s force feedback hand controller. In SPRO '98 IFAC Workshop on Space Robotics, Montreal, Canada, October 19-22 1 1998.
5. S. P. DiMaio and S. E. Salcudean. Needle insertion modeling and simulation. IEEE Transactions on Robotics and Automation, 19(5):864-875, 2003.
6. J. A. Engh, G. Podnar, D. Kondziolka, and C. N. Riviere. Toward effective needle steering in brain tissue. 2.8ih Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pages 559-562, 2006.
7. R. B. Gillespie, J. E. Colgate, and M. A. Peshkin. A general framework for cobot control. IEEE Transactions on Robotics and Automation, 17(4)1,391-401, 2001.
8. D. Glozman and M. Shoham. Flexible needle: steering add optimal trajectory planning for percutaneous therapies, In Medical Image Computing and Computer-Assisted Intervention ?MICCAI, pages 137-144, 2004.
9. V. Kallem and.N. J. Cowan. Image-guided control of flexible bevel-tip needles. IEEE. International Conference on Robotics and Automation, 2007. (in press).
10. V. Mut, J. Postigo, E. Slawinski, and B. Kuchen. Bilateral teleoperation of mobile robots. Robotica, 20:213-221, 2002.
11. S. Okazawa, R. Ebrahimi, J. Chuang, S. E. Salcudeani, and R. Rohling. Hand-held steerable needle device. IEEE/ASME Transactions on Mechatronics, 1,0(3):285 - 296, 2005.
12. P. Sears and R Dupont. A steerable needle technology using curved concentric tubes. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2850-2856, 2006.
13. D. Stoianovici, R. Webster, and L. Kavoussi. Surgical robotic applications in minimally invasive uro-oncology surgery. In Minimally Invasive Uro-Oncologic Surgery, pages 353-363. London & New York: Taylor & Francis, 2005.
14. R. J. Webster III, N. J. Cowan, G. S. Chirikjian, and.A. M. Okamura. Nonholonomic modelling of needle steering. International Journal of Robotics Research, 25(5/6):509-5.26, May/June 2006.
15. R. I. Webster III, J. Memisevie, and A. M. Okamura. Design Considerations for robotic needle steering. IEEE International Conference on Robotics and Automation, pages 3599-3605, 2005.
16. R. J. Webster III, A. M. Okamura, and N. J. Cowan. Toward active cannulas: Miniature snake-like surgical robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2857-2863, 2006.