title: Needle steering system using duty-cycled rotation for percutaneous kidney access.
abstract: The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.
authors.affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA.
authors.forename: Nathan A
authors.initials: NA
authors.lastname: Wood
authors.forename: Khaled
authors.initials: K
authors.lastname: Shahrour
authors.forename: Michael C
authors.initials: MC
authors.lastname: Ost
authors.forename: Cameron N
authors.initials: CN
authors.lastname: Riviere
mesh_terms: D003198:Computer Simulation; D003950:Diagnostic Techniques, Urological; D007668:Kidney / Q000473:pathology*; D009339:Needles; D019047:Phantoms, Imaging; D012399:Rotation