Design Considerations for Robotic Needle Steering

  title={Design Considerations for Robotic Needle Steering},
  author={Robert J. Webster and Jasenka Memisevic and Allison M. Okamura},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
Many medical procedures involve the use of needles, but targeting accuracy can be limited due to obstacles in the needle’s path, shifts in target position caused by tissue deformation, and undesired bending of the needle after insertion. In order to address these limitations, we have developed robotic systems that actively steer a needle in soft tissue. A bevel (asymmetric) tip causes the needle to bend during insertion, and steering is enhanced when the needle is very flexible. An experimental… CONTINUE READING
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