Mechanics of flexible needles robotically steered through soft tissue

International Journal of Robotics Research

Volumn 29, Issue 13, 2010, Pages 1640-1660

  Misra, S ^a   Reed, K B ^b   Schafer, B W ^c   Ramesh, K T ^c   Okamura, A M ^c  

^a UNIVERSITY OF TWENTE   (Netherlands)

^b UNIVERSITY OF SOUTH FLORIDA   (United States)

^c JOHNS HOPKINS UNIVERSITY   (United States)

Author keywords

Medical robotics; needle insertion; soft tissue mechanics

Indexed keywords

ANALYTICAL MODEL; ELASTIC MEDIUM; EXPERIMENTAL STUDIES; FLEXIBLE NEEDLE; GEOMETRICAL PROPERTY; KINEMATIC MODEL; LINE TRAJECTORY; MATERIAL PROPERTY; MEDICAL PROCEDURES; MEDICAL ROBOTICS; MICROSCOPIC OBSERVATIONS; MODEL DESIGN; MODEL PARAMETERS; NEEDLE INSERTION; NEEDLE STEERING; NEEDLE-TISSUE INTERACTION; PATH PLANNING AND CONTROL; RADIUS OF CURVATURE; ROBOTIC NEEDLE INSERTION; SIMULATION RESULT; SOFT TISSUE; SOFT TISSUE MECHANICS; SUBSURFACE TARGETS; SYSTEM DESIGN;

KINEMATICS; MATERIALS PROPERTIES; MATHEMATICAL MODELS; MECHANICAL PROPERTIES; ROBOTICS; ROBOTS; SYSTEMS ANALYSIS; TISSUE;

NEEDLES;

EID: 77958501975     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364910369714     Document Type: Article

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