1 / 8

steerable needles for medical applications

steerable needles for medical applications. ken goldberg, uc berkeley goldberg@berkeley.edu http://goldberg.berkeley.edu. Prostate Cancer Treatments. Permanent seed: needles insert radioactive seeds

hamish-potter
Download Presentation

steerable needles for medical applications

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. steerable needles for medical applications ken goldberg, uc berkeley goldberg@berkeley.edu http://goldberg.berkeley.edu

  2. Prostate Cancer Treatments Permanent seed: needles insert radioactive seeds HDR: temporary catheters inserted, radioactive element passes through with controlled dwell times. Ultrasound, Sagittal plane

  3. Medical robotics Minimally invasive surgery

  4. Steerable Needle bevel tip flexible needle

  5. Motion Planning R. Alterovitz, et. al. Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. ICRA’05. R. Alterovitz, et. al. Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering. WAFR’06.

  6. 3D Needle Kinematics

  7. Motion Planning of Steerable Needle Algorithm 1: Forward RRT with deterministic sampled control space

  8. Single Entry Point, Multiple Targets The RRT grown in the workspace The feasible entry point and path

More Related