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.
DiMaio
Simon P
SP
Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada. simond@bwh.harvard.edu
Salcudean
S E
SE
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