Needle steering and motion planning in soft tissues.
In this work, needle insertion into deformable tissue is formulated as a trajectory planning and control problem. A new concept of needle steering has been developed and a needle manipulation Jacobian defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potential-field-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.
Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada. simond@bwh.harvard.edu
Simon P
SP
DiMaio
S E
SE
Salcudean
D000818:Animals; D001707:Biopsy, Needle / Q000379:methods*; D003198:Computer Simulation; D003238:Connective Tissue / Q000473:pathology / Q000502:physiology*; D003936:Diagnosis, Computer-Assisted / Q000379:methods*; D004360:Drug Therapy, Computer-Assisted / Q000379:methods*; D004548:Elasticity; D006801:Humans; D007267:Injections / Q000379:methods*; D008954:Models, Biological; D009068:Movement / Q000502:physiology*; D009339:Needles; D010812:Physical Stimulation / Q000379:methods; D012371:Robotics / Q000379:methods; D013314:Stress, Mechanical