Needle steering and model-based trajectory planning

被引：0

作者：

DiMaio, SP ^{[1
]}

Salcudean, SE ^{[1
]}

机构：

[1] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC, Canada

来源：

MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2003, PT 1 | 2003年 / 2878卷

关键词：

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Needle insertion for percutaneous therapies is formulated as a trajectory planning and control problem. A new concept of needle Steering is developed and a Needle Manipulation Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potential-field-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.

引用

页码：33 / 40

页数：8

共 9 条

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