Robotic needle steering: design, modeling, planning, and image guidance

Noah J. Cowan; Ken Goldberg; Gregory S. Chirikjian; Gabor Fichtinger; Ron Alterovitz; Kyle B. Reed; Vinutha Kallem; Sarthak Misra; Wooram Park; Allison M. Okamura

doi:10.1007/978-1-4419-1126-1_23

Robotic needle steering: design, modeling, planning, and image guidance

Noah J. Cowan, Ken Goldberg, Gregory S. Chirikjian, Gabor Fichtinger, Ron Alterovitz, Kyle B. Reed, Vinutha Kallem, Sarthak Misra, Wooram Park, Allison M. Okamura

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

105 Citations (Scopus)

25 Downloads (Pure)

Abstract

This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods. Steering can be achieved using a variety of mechanisms, including tip-based steering, lateral manipulation, and applying forces to the tissue as the needle is inserted. Models of these steering mechanisms can predict needle trajectory based on steering commands, motivating new preoperative path planning algorithms. These planning algorithms can be integrated with emerging needle imaging technology to achieve intraoperative closed-loop guidance and control of steerable needles.

Original language	Undefined
Title of host publication	Surgical Robotics - Systems, Applications, and Visions
Editors	Jacob Rosen, Blake Hannaford, Richard M. Satava
Publisher	Springer
Pages	557-582
Number of pages	26
ISBN (Print)	978-1441911254
DOIs	https://doi.org/10.1007/978-1-4419-1126-1_23
Publication status	Published - 21 Dec 2010

Publication series

Name
Publisher	Springer

Keywords

IR-76348
EWI-19683
METIS-275939

Access to Document

10.1007/978-1-4419-1126-1_23

http://eprints.eemcs.utwente.nl/secure2/19683/01/Cowan2010.pdf

Cite this

Cowan, N. J., Goldberg, K., Chirikjian, G. S., Fichtinger, G., Alterovitz, R., Reed, K. B., Kallem, V., Misra, S., Park, W., & Okamura, A. M. (2010). Robotic needle steering: design, modeling, planning, and image guidance. In J. Rosen, B. Hannaford, & R. M. Satava (Eds.), Surgical Robotics - Systems, Applications, and Visions (pp. 557-582). Springer. https://doi.org/10.1007/978-1-4419-1126-1_23

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title = "Robotic needle steering: design, modeling, planning, and image guidance",

abstract = "This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods. Steering can be achieved using a variety of mechanisms, including tip-based steering, lateral manipulation, and applying forces to the tissue as the needle is inserted. Models of these steering mechanisms can predict needle trajectory based on steering commands, motivating new preoperative path planning algorithms. These planning algorithms can be integrated with emerging needle imaging technology to achieve intraoperative closed-loop guidance and control of steerable needles.",

keywords = "IR-76348, EWI-19683, METIS-275939",

author = "Cowan, {Noah J.} and Ken Goldberg and Chirikjian, {Gregory S.} and Gabor Fichtinger and Ron Alterovitz and Reed, {Kyle B.} and Vinutha Kallem and Sarthak Misra and Wooram Park and Okamura, {Allison M.}",

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Robotic needle steering: design, modeling, planning, and image guidance. / Cowan, Noah J.; Goldberg, Ken; Chirikjian, Gregory S. et al.
Surgical Robotics - Systems, Applications, and Visions. ed. / Jacob Rosen; Blake Hannaford; Richard M. Satava. Springer, 2010. p. 557-582.

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

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AU - Reed, Kyle B.

AU - Kallem, Vinutha

AU - Misra, Sarthak

AU - Park, Wooram

AU - Okamura, Allison M.

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