Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering
Sign Up to like & getrecommendations! Published in 2018 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2018.08.014
Abstract: This paper presents a new method for estimating the needle pose and curvature in the context of robotically steered needles. The needle tip trajectory is represented by a modified unicycle kinematic model. A multi-rate unscented… read more here.
Keywords: rate unscented; unscented kalman; needle steering; pose curvature ... See more keywords
Magnetic Needle Steering in Soft Phantom Tissue
Sign Up to like & getrecommendations! Published in 2020 at "Scientific Reports"
DOI: 10.1038/s41598-020-59275-x
Abstract: Needle steering is a technology for guiding needles around sensitive internal obstacles in minimally invasive surgery. Traditional techniques apply rotation at the base of a needle with an asymmetric tip, enabling steering through the redirection… read more here.
Keywords: phantom tissue; tissue; steering soft; needle steering ... See more keywords
Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2858001
Abstract: Needle insertion is a minimally invasive procedure finding applications in biopsy, ablation, drug delivery, and cancer therapy. Prostate brachytherapy is a therapeutic procedure where radioactive agents are implanted within the prostate using long needles for… read more here.
Keywords: model based; tissue; needle steering; lateral needle ... See more keywords
Hybrid control algorithm for flexible needle steering: Demonstration in phantom and human cadaver
Sign Up to like & getrecommendations! Published in 2018 at "PLoS ONE"
DOI: 10.1371/journal.pone.0210052
Abstract: Needles are commonly used in the clinic for percutaneous procedures. The outcome of such procedures heavily depends on accurate placement of the needle. There are two main challenges to achieve high accuracy: First, aligning the… read more here.
Keywords: cadaver; hybrid control; human cadaver; needle steering ... See more keywords
Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization
Sign Up to like & getrecommendations! Published in 2022 at "Robotics"
DOI: 10.3390/robotics11020049
Abstract: Straight-line needle insertion is a prevalent tool in surgical interventions in the brain, such as Deep Brain Stimulation and Convection-Enhanced Delivery, that treat a range of conditions from Alzheimer’s disease to brain cancer. Using a… read more here.
Keywords: using expectation; brain; needle steering; expectation maximization ... See more keywords