Modeling of Needle Steering via Duty-Cycled Spinning
Conference Paper, Proceedings of 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '07), pp. 2756 - 2759, August, 2007
Abstract
As flexible bevel tip needles are inserted into tissue, a deflection force causes the needle to bend with a curvature dependent on relative stiffness and bevel angle. By constantly spinning the needle during insertion, the bevel angle is essentially negated and a straight trajectory can be achieved. Incorporating duty-cycled spinning during needle insertion provides proportional control of the curvature of the needle trajectory through tissue. This paper proposes a kinematic model for needle steering via duty-cycled spinning. Validation using experimental results is also presented.
BibTeX
@conference{Minhas-2007-9800,author = {Davneet Minhas and Johnathan A. Engh and Michele Marie Fenske and Cameron Riviere},
title = {Modeling of Needle Steering via Duty-Cycled Spinning},
booktitle = {Proceedings of 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '07)},
year = {2007},
month = {August},
pages = {2756 - 2759},
keywords = {neurosurgery, needle steering, minimally invasive surgery},
}
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