Needle steering system using duty-cycled rotation for percutaneous kidney access
Conference Paper, Proceedings of 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '10), pp. 5432 - 5435, September, 2010
Abstract
The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.
BibTeX
@conference{Wood-2010-10535,author = {Nathan Wood and Khaled Shahrour and Michael C. Ost and Cameron Riviere},
title = {Needle steering system using duty-cycled rotation for percutaneous kidney access},
booktitle = {Proceedings of 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '10)},
year = {2010},
month = {September},
pages = {5432 - 5435},
keywords = {surgery, medical robotics, needle steering, urology, kidney, access},
}
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