Referenced Items are not available for this document.
In this work, needle insertion into deformable tissue is formulated as a trajectory planning and control problem. A new concept of needle steering has been developed and a needle manipulation Jacobian defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potential-field-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.
Published in:
Biomedical Engineering, IEEE Transactions on
(Volume:52
,
Issue:
6
)
Date of Publication: June 2005
- Page(s):
- 965 - 974
- ISSN :
- 0018-9294
- INSPEC Accession Number:
- 8430597
- Digital Object Identifier :
- 10.1109/TBME.2005.846734
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 16 May 2005
- Issue Date :
- June 2005
- Sponsored by :
- IEEE Engineering in Medicine and Biology Society
- PubMed ID :
- 15977726
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
