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 proceedingChapterAcademicpeer-review

    67 Citations (Scopus)

    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 languageUndefined
    Title of host publicationSurgical Robotics - Systems, Applications, and Visions
    EditorsJacob Rosen, Blake Hannaford, Richard M. Satava
    PublisherSpringer
    Pages557-582
    Number of pages26
    ISBN (Print)978-1441911254
    DOIs
    Publication statusPublished - 21 Dec 2010

    Publication series

    Name
    PublisherSpringer

    Keywords

    • IR-76348
    • EWI-19683
    • METIS-275939

    Cite this

    Cowan, N. J., Goldberg, K., Chirikjian, G. S., Fichtinger, G., Alterovitz, R., Reed, K. B., ... 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