Referenced Items are not available for this document.
The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.
Published in:
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE
Date of Conference: Aug. 31 2010-Sept. 4 2010
- Page(s):
- 5432 - 5435
- ISSN :
- 1557-170X
- Print ISBN:
- 978-1-4244-4123-5
- INSPEC Accession Number:
- 11650535
- Conference Location :
- Buenos Aires
- Digital Object Identifier :
- 10.1109/IEMBS.2010.5626514
- Product Type:
- Conference Publications
- PubMed ID :
- 21096277
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