Robot-assisted needle steering

IEEE Robotics and Automation Magazine

Volumn 18, Issue 4, 2011, Pages 35-46

  Reed, Kyle B ^a   Majewicz, Ann ^b   Kallem, Vinutha ^c   Alterovitz, Ron ^d   Goldberg, Ken ^e   Cowan, Noah J ^f   Okamura, Allison M ^b  

^a UNIVERSITY OF SOUTH FLORIDA   (United States)

^b Stanford University   (United States)

^c SRI INTERNATIONAL   (United States)

^d UNIVERSITY OF NORTH CAROLINA   (United States)

^e UNIVERSITY OF CALIFORNIA   (United States)

^f Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL TISSUES; EXPERIMENTAL EVALUATION; NEEDLE STEERING; PATH PLANNERS; PLANNING FRAMEWORK; PROBABILITY OF SUCCESS; ROBOT MOTION; ROBOTIC DEVICES;

MACHINE DESIGN; MOTION PLANNING; NEEDLES; ROBOTICS; ROBOTS; TISSUE;

ROBOT PROGRAMMING;

EID: 83455195795     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2011.942997     Document Type: Article

References (23)

1. K. B. Reed, V. Kallem, R. Alterovitz, K. Goldberg, A. M. Okamura, and N. J. Cowan, "Integrated planning and image-guided control for planar needle-steering," in Proc. IEEE Conf. Biorob, 2008, pp. 819-824.
2. A. Majewicz, T. R. Wedlick, K. B. Reed, and A. M. Okamura, "Evaluation of robotic needle steering in ex vivo tissue," in Proc. IEEE Int. Conf. Robotics and Automation, May 2010, pp. 2068-2073.
3. R. J. Webster, III, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, "Nonholonomic modeling of needle steering," Int. J. Robot. Res., vol. 25, no. 5-6, pp. 509-525, 2006. (Pubitemid 43735586)
4. R. Alterovitz and K. Goldberg, Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures (Springer Tracts in Advanced Robotics 50). Berlin: Springer-Verlag, 2008.
5. K. B. Reed, A. M. Okamura, and N. J. Cowan, "Modeling and control of needles with torsional friction," IEEE Trans. Biomed. Eng., vol. 56, no. 12, pp. 2905-2916, 2009.
6. S. Okazawa, R. Ebrahimi, J. Chuang, S. E. Salcudean, and R. Rohling, "Hand-held steerable needle device," IEEE/ASME Trans. Mech., vol. 10, no. 3, pp. 285-296, 2005. (Pubitemid 41064268)
7. D. S. Minhas, J. A. Engh, M. M. Fenske, and C. N. Riviere, "Modeling of needle steering via duty-cycled spinning," in Proc. Conf. IEEE EMBS, 2007, pp. 2756-2759.
8. N. Abolhassani, R. Patel, and M. Moallem, "Needle insertion into soft tissue: A survey," Med. Eng. Phys., vol. 29, no. 4, pp. 413-431, 2007. (Pubitemid 46074441)
9. S. P. DiMaio and S. E. Salcudean, "Needle steering andmotion planning in soft tissues," IEEE Trans. Biomed. Eng., vol. 52,no. 6, pp. 965-974, June 2005. (Pubitemid 40813828)
10. D. Glozman and M. Shoham, "Image-guided robotic flexible needle steering," IEEE Trans. Robot., vol. 23, no. 3, pp. 459-467, June 2007. (Pubitemid 47062022)
11. V. G. Mallapragada, N. Sarkar, and T. K. Podder, "Robot-assisted real-time tumor manipulation for breast biopsy," IEEE Trans. Robot., vol. 25, no. 2, pp. 316-324, 2009.
12. M. Torabi, K. Hauser, R. Alterovitz, V. Duindam, and K. Goldberg, "Guiding medical needles using single-point tissue manipulation," in Proc. IEEE Int. Conf. Robotics and Automation, 2009, pp. 2705-2710.
13. R. Alterovitz, M. Branicky, and K. Goldberg, "Motion planning under uncertainty for image-guided medical needle steering," Int. J. Robot. Res., vol. 27, no. 11-12, pp. 1361-1374, Nov. 2008.
14. V. Kallem and N. J. Cowan, "Image guidance of flexible tip-steerable needles," IEEE Trans. Robot., vol. 25, no. 1, pp. 191-196, 2009.
15. W. Park, K. B. Reed, A. M. Okamura, and G. S. Chirikjian, "Estimation of model parameters for steerable needles," in Proc. IEEE Int. Conf. Robotics and Automation, May 2010, pp. 3703-2708.
16. S. Misra, K. B. Reed, B. W. Schafer, K. T. Ramesh, and A. M. Okamura, "Mechanics of flexible needles robotically steered through soft tissues," Int. J. Robot. Res., vol. 29, no. 13, pp. 1640-1660, 2010.
17. T. Krouskop, T. Wheeler, F. Kallel, B. Garra, and T. Hall, "Elastic moduli of breast and prostate tisues under compression," Ultrason. Imaging, vol. 20, no. 4, pp. 260-274, 1998. (Pubitemid 29168827)
18. E. C. Burdette, D. C. Rucker, P. Prakash, C. J. Diederich, J. M. Croom, C. Clarke, P. J. Stolka, T. Juang, E. M. Boctor, R. J. Webster, and III, "The ACUSSIT ultrasonic ablator: The first steerable needle with an integrated interventional tool," in Proc. SPIE Medical Imaging, Mar. 2010. [Online]. Available: http://spie.org/x648.html?product-id=845972
19. W. Park, Y. Wang, and G. S. Chirikjian, "The path-of-probability algorithm for steering and feedback control of flexible needles," Int. J. Robot. Res., vol. 29, pp. 813-830, 2010.
20. V. Duindam, J. Xu, R. Alterovitz, S. Sastry, and K. Goldberg, "Threedimensional motion planning algorithms for steerable needles using inverse kinematics," Int. J. Robot. Res., vol. 29, no. 7, pp. 789-800, 2010.
21. J. M. Romano, R. J. Webster, III, and A. M. Okamura, "Teleoperation of steerable needles," in Proc. IEEE Int. Conf. Robotics and Automation, Apr. 2007, pp. 934-939. (Pubitemid 350140304)
22. J.-Y. Bouguet. (2010, Nov. 15). Camera calibration toolbox for Matlab. [Online]. Available: http://www.vision.caltech.edu/bouguetj/calib-doc/
23. (2010, Nov. 15). CISST libraries and Surgical Assistant Workstation (SAW). [Online]. Available: https://trac.lcsr.jhu.edu/cisst