Needle steering and motion planning in soft tissues.
other · Level V
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- Record sourced from PubMed, PMID 15977726.
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Abstract
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.
Medical subject headings
- Biopsy, Needle
- Connective Tissue
- Diagnosis, Computer-Assisted
- Drug Therapy, Computer-Assisted
- Injections
- Models, Biological
- Movement
- Needles