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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ken goldberg, uc berkeley
Permanent seed: needles insert radioactive seeds
HDR: temporary catheters inserted, radioactive element passes through with controlled dwell times.
Ultrasound, Sagittal plane
Minimally invasive surgery
bevel tip flexible needle
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