相关论文: Safer Motion Planning of Steerable Needles via a S…

Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating…

Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…

Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to…

In medicine, needles are frequently used to deliver treatments to subsurface targets or to take tissue samples from the inside of an organ. Current clinical practice is to insert needles under image guidance or haptic feedback, although…

Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone in on anatomical targets. In order to accurately steer them,…

In this study we present a kinematic approach to modeling needle insertion into soft tissues. The kinematic approach allows the presentation of the problem as Dirichlet-type (i.e. driven by enforced motion of boundaries) and therefore…

Needle insertion is common during minimally invasive interventions such as biopsy or brachytherapy. During soft tissue needle insertion, forces acting at the needle tip cause tissue deformation and needle deflection. Accurate needle tip…

In this paper we investigate the mechanical problem of piercing a soft solid body with a needle. This phenomenon is controlled by the critical condition of needle insertion. Needle insertion involves physical and geometrical nonlinearities…

Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy…

Purpose. Precise placement of needles is a challenge in a number of clinical applications such as brachytherapy or biopsy. Forces acting at the needle cause tissue deformation and needle deflection which in turn may lead to misplacement or…

Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation method is highly advantageous in medical applications, the…

Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…

Accurate prediction of the force required to puncture a soft material is critical in many fields like medical technology, food processing, and manufacturing. However, such a prediction strongly depends on our understanding of the complex…

Medical cyber-physical systems are safety-critical, and as such, require ongoing verification of their correct behavior, as system failure during run time may cause severe (or even fatal) personal damage. However, creating a verifiable…

In medicolegal situations, the consequences of a stabbing incident are described in terms that are qualitative without being quantitative. Here, the mechanical variables involved in knife-tissue penetration events are used to determine the…

We present an error-controlled mesh refinement procedure for needle insertion simulation and apply it to the simulation of electrode implantation for deep brain stimulation, including brain shift. Our approach enables to control the error…

The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is…

In recent years, the steerable needles have attracted significant interest in Minimally Invasive Surgery (MIS). Amongst these, the flexible Programmable-bevel tip needle (PBN) concept has successfully achieved an in-vivo demonstration to…

To date, the simulation of organ deformations for applications like therapy planning or image-guided interventions is calculated by solving the elastodynamics equations. While efficient solvers have been proposed for fast simulations,…

Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…