steerable needles for medical applications
DESCRIPTION
steerable needles for medical applications. ken goldberg, uc berkeley [email protected] http://goldberg.berkeley.edu. Prostate Cancer Treatments. Permanent seed: needles insert radioactive seeds - PowerPoint PPT PresentationTRANSCRIPT
steerable needles for medical applications
ken goldberg, uc [email protected]
http://goldberg.berkeley.edu
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Prostate Cancer Treatments
Ultrasound, Sagittal plane
Permanent seed: needles insert radioactive seeds
HDR: temporary catheters inserted, radioactive element passes through with controlled dwell times.
Medical roboticsMinimally invasive surgery
Steerable Needle
bevel tip flexible needle
Motion PlanningR. 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.
3D Needle Kinematics
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Algorithm 1: Forward RRT with deterministic sampled control space
Motion Planning of Steerable Needle
Single Entry Point, Multiple Targets
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The RRT grown in the workspace The feasible entry point and path