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Accurate insertion of needles to targets in 3D anatomy is required for numerous medical procedures. To reduce patient trauma, a ??fireworks?? needle insertion approach can be used in which multiple needles are inserted from a single small region on the patient's skin to multiple targets in the tissue. In this paper, we explore motion planning for ??fireworks?? needle insertion in 3D environments by...
This paper addresses the use of robotic tissue manipulation in medical needle insertion procedures to improve targeting accuracy and to help avoid damaging sensitive tissues. To control these multiple, potentially competing objectives, we present a phased controller that operates one manipulator at a time using closed-loop imaging feedback. We present an automated procedure planning technique that...
The large number of degrees of freedom in legged robots give rise to complicated dynamics equations. Analyzing these equations or using them for control can therefore be a difficult and non-intuitive task. A simplification of the complex multi-body dynamics can be achieved by instantaneously reducing it to an equivalent single inertial entity called the locked inertia or the composite rigid body inertia.
Steerable needles composed of a highly flexible material and with a bevel tip offer greater mobility compared to rigid needles for minimally invasive medical procedures. In this paper, we apply sampling-based motion planning technique to explore motion planning for the steerable bevel-tip needle in 3D environments with obstacles. Based on the Rapidly-exploring Random Trees (RRTs) method, we develop...
Bevel-tip flexible needles have greater mobility than straight rigid needles, and can be used to reach targets behind sensitive or impenetrable areas. Accurately planning and executing the optimal motions for such steerable needles is difficult, however, and requires solving inverse kinematics for a nonholonomic system. This paper presents an approach to 3D motion planning for bevel-tip needles in...
Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to Ropfn. This limitation leads to singularities and other artifacts in case the configuration space has a different topology, for example, in the case of ball joints or a free-floating mechanism. This paper discusses an extension of classical methods that allows for a more general class of joints,...
One of the potential benefits of robotic systems in cardiac surgery is that their use can increase the number of possible off-pump (beating heart) coronary artery bypass grafting procedures. Robotic systems can actively synchronize the motion of surgical tools to the motion of the surface of the heart, with the surgeon specifying only the relative motion of the tool with respect to the heart. Accurate...
Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to R". This limitation leads to singularities and other artifacts in case the configuration space has a different topology, for example in the case of ball joints or a free-floating mechanism. This paper discusses an extension of classical methods to allow for a very general class of joints,...
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