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steerable needles for medical applications. ken goldberg, uc berkeley [email protected] http://goldberg.berkeley.edu. Prostate Cancer Treatments. Permanent seed: needles insert radioactive seeds

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Steerable needles for medical applications
steerable needles for medical applications

ken goldberg, uc berkeley

[email protected]

http://goldberg.berkeley.edu


Prostate cancer treatments
Prostate Cancer Treatments

Permanent seed: needles insert radioactive seeds

HDR: temporary catheters inserted, radioactive element passes through with controlled dwell times.

Ultrasound, Sagittal plane


Medical robotics
Medical robotics

Minimally invasive surgery


Steerable needle
Steerable Needle

bevel tip flexible needle


Motion planning
Motion Planning

R. Alterovitz, et. al. Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. ICRA’05.

R. Alterovitz, et. al. Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering. WAFR’06.



Motion Planning of Steerable Needle

Algorithm 1: Forward RRT with deterministic sampled control space


Single Entry Point, Multiple Targets

The RRT grown in the workspace

The feasible entry point and path


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