Robot-assisted flexible needle insertion using universal distributional deep reinforcement learning
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Computer Assisted Radiology and Surgery"
DOI: 10.1007/s11548-019-02098-7
Abstract: Purpose Flexible needle insertion is an important minimally invasive surgery approach for biopsy and radio-frequency ablation. This approach can minimize intraoperative trauma and improve postoperative recovery. We propose a new path planning framework using multi-goal… read more here.
Keywords: framework; insertion; flexible needle; reinforcement learning ... See more keywords
Flexible Needle Bending Model for Spinal Injection Procedures
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3239310
Abstract: An in situ needle manipulation technique used by physicians when performing spinal injections is modeled to study its effect on needle shape and needle tip position. A mechanics-based model is proposed and solved using finite… read more here.
Keywords: flexible needle; model spinal; bending model; needle bending ... See more keywords