Nonholonomic Modeling of Needle Steering

By Robert J. Webster III, Jin Seob Kim, Noah John Cowan, Gregory S. Chirikjian, Allison M. Okamura. Int. J. Robotics Res., 2006

747 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/379d4102c3f724bbc412184b00774429117c52f5

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In Biomedical Engineering

In Control and Systems Engineering

In Mechanical Engineering

Citations in the corpus

Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat (2009, background): “Minimally invasive surgery (MIS) benefits patients with reduced trauma and healing time by providing surgeons with ac- 1134 cess to patients’ internal organs via a limited number of access ports.”
Continuum Robots for Medical Applications: A Survey (2015, background): “Tip-steerable needles [52], [53] could be categorized as mobile continuum robots that can travel along a path within tissue but cannot operate as manipulators in free space.”
Image-Guided Robotic Flexible Needle Steering (2007, background): “This effect, intuitively used by clinicians, was modeled as a nonholonomic kinematics problem for steering of a highly flexible needle through a firm tissue [10]–[12].”
Needle insertion into soft tissue: a survey. (2007, background): “[87], Webster et al.”
Mechanics of Flexible Needles Robotically Steered through Soft Tissue (2010, methodology): “Several groups have examined the use of robotically steered flexible needles through tissue (DiMaio and Salcudean 2005; Okazawa et al. 2005; Abolhassani and Patel 2006; Engh et al. 2006; Webster et al. 2006; Glozman and Shoham 2007).”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, methodology): “…efforts have been made to robotize these and other continuum devices for surgery including forceps (Nakamura et al. 1995), flexible needles (Webster et al. 2006a), laparoscopic tools (Peirs et al. 2003), endoscopes (Ikuta et al. 1988), arthro-scopes (Dario et al. 2000), colonoscopes (Phee…”
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty (2007, background): “When restricted to motion in a plane, the bevel direction can be set to point left (b = 0) or right (b = 1) [36].”