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Needle steering and motion planning in soft tissues

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2 Author(s)
DiMaio, S.P. ; Dept. of Electr. & Comput. Eng., Univ. of British Columbia, Vancouver, BC, Canada ; Salcudean, S.E.

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.

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Biomedical Engineering, IEEE Transactions on  (Volume:52 ,  Issue: 6 )