Modeling of needle steering via duty-cycled spinning

Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings

Volumn , Issue , 2007, Pages 2756-2759

  Minhas, Davneet S ^b   Engh, Johnathan A ^c   Fenske, Michele M ^d   Riviere, Cameron N ^a,e  

^a IEEE

^b CARNEGIE MELLON UNIVERSITY   (United States)

^c UNIVERSITY OF PITTSBURGH SCHOOL OF MEDICINE   (United States)

^d CLEVELAND STATE UNIVERSITY   (United States)

^e CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EXPERIMENTAL RESULTS; NEEDLE STEERING; RELATIVE STIFFNESS;

KINEMATICS; MATHEMATICAL MODELS; NEEDLES; STIFFNESS; TISSUE;

SPINNING (FIBERS);

GELATIN;

ARTICLE; CHEMISTRY; COMPUTER SIMULATION; MOTION; NEEDLE; PUNCTURE; ROBOTICS; THEORETICAL MODEL;

COMPUTER SIMULATION; GELATIN; MODELS, THEORETICAL; MOTION; NEEDLES; PUNCTURES; ROBOTICS;

EID: 57649227309     PISSN: 05891019     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IEMBS.2007.4352899     Document Type: Conference Paper

References (13)

1. M. A. Hau, J. I. Kim, S. Kattapuram, F. J. Hornicek, A. E. Rosenberg, M. C. Gebhardt, H. J. Mankin, "Accuracy of CT-guided biopsies in 359 patients with musculoskeletal lesions," Skeletal Radiology, vol. 31, no. 6, pp. 349-353, 2002.
2. T. T. Horlocker, D. J. Wedel, H. Benzon, D. L. Brown, F. K. Enneking, J. A. Heit, M. F. Mulroy, R. W Rosenquist, J. Rowlingson, M. Tryba, C. S. Yuan, "Regional anesthesia in the anticoagulated patient: defining the risks (the second ASRA Consensus Conference on Neuraxial Anesthesia and Anticoagulation)," Reg. Anesth. Pain Med., vol. 28, no. 3, pp. 172-197, May-June 2003.
3. 125I prostate implants,"Phys. Med. Bio., vol. 46, pp. 2785-2800, 2001.
4. R. J. Webster III, J. S. Kim, N. K. Cowan, G. S. Chirikjian, A. M. Okamura, "Nonholonomic modeling of needle steering," Int. J. Rob. Res., vol. 25, no. 5-6, pp. 509-525, May-June 2006.
5. R. J. Webster III, J. Memisevic, A. M. Okamura, "Design considerations for robotic needle steering," in Proc. IEEE Int. Conf. Rob. Autom., 2005, pp. 3599-3605.
6. S. P. DiMaio, S. E. Salcudean, "Needle insertion modeling and simulation," IEEE Trans. Rob. Autom., vol. 19, no. 5, pp. 864-875, October 2003.
7. S. Okazawa, R. Ebrahimi, J. Chuang, S. E. Salcudean, R. Rohling, "Hand-held steerable needle device," IEEE ASME Trans. Mechatron., vol. 10, no. 3, June 2005.
8. th Annual Int. Conf. IEEE Eng. Med. Biol. Soc., 2006, pp. 559-562.
9. R. M. Murray, Z. Li, S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. Boca Raton: CRC Press, 1994.
10. R. C. Ritter, E. G. Quate, G. T. Gillies, M. S. Grady, M. A. Howard III, W. M. Broaddus, "Measurement of friction on straight catheters in in vitro brain and phantom material," IEEE Trans. Biomed. Eng, vol. 45, no. 4, pp. 476-485, April 1998.
11. R. Alterovitz, K. Goldberg, J. Pouliot, R. Taschereau, I. C. Hsu, "Sensorless planning for medical needle insertion procedures," in Proc. IEEE Int. Conf. Intell. Rob. Sys., 2003, pp. 3337-3343.
12. R. Alterovitz, K. Goldberg, A. Okamura, "Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles," in Proc. IEEE Intl. Conf. Rob. Autom., 2005, pp. 1652-1657.
13. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura, G. S. Chirikjian, "Diffusion-based motion planning for a nonholonomic flexible model," in Proc. IEEE Int. Conf. Rob. Autom., 2005, pp. 4611-4616.