Steerable needles for medical applications
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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.


3d needle kinematics

3D Needle Kinematics


Steerable needles for medical applications

Motion Planning of Steerable Needle

Algorithm 1: Forward RRT with deterministic sampled control space


Steerable needles for medical applications

Single Entry Point, Multiple Targets

The RRT grown in the workspace

The feasible entry point and path


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