Estimation of model parameters for steerable needles

  title={Estimation of model parameters for steerable needles},
  author={Wooram Park and Kyle B. Reed and Allison M. Okamura and Gregory S. Chirikjian},
  journal={2010 IEEE International Conference on Robotics and Automation},
Flexible needles with bevel tips are being developed as useful tools for minimally invasive surgery and percutaneous therapy. When such a needle is inserted into soft tissue, it bends due to the asymmetric geometry of the bevel tip. This insertion with bending is not completely repeatable. We characterize the deviations in needle tip pose (position and orientation) by performing repeated needle insertions into artificial tissue. The base of the needle is pushed at a constant speed without… CONTINUE READING
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Stochastic Models, Information

  • G. S. Chirikjian
  • Theory, and Lie Groups,
  • 2009
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