steerable needles for medical applications n.
Download
Skip this Video
Download Presentation
steerable needles for medical applications

Loading in 2 Seconds...

play fullscreen
1 / 8

steerable needles for medical applications - PowerPoint PPT Presentation


  • 83 Views
  • Uploaded on

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

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'steerable needles for medical applications' - hamish-potter


Download Now An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
steerable needles for medical applications
steerable needles for medical applications

ken goldberg, uc berkeley

goldberg@berkeley.edu

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.

slide7

Motion Planning of Steerable Needle

Algorithm 1: Forward RRT with deterministic sampled control space

slide8

Single Entry Point, Multiple Targets

The RRT grown in the workspace

The feasible entry point and path

ad