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steerable needles for medical applications

steerable needles for medical applications. ken goldberg, uc berkeley goldberg@berkeley.edu http://goldberg.berkeley.edu. Prostate Cancer Treatments. Permanent seed: needles insert radioactive seeds

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steerable needles for medical applications

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  1. steerable needles for medical applications ken goldberg, uc berkeley goldberg@berkeley.edu http://goldberg.berkeley.edu

  2. Prostate Cancer Treatments Permanent seed: needles insert radioactive seeds HDR: temporary catheters inserted, radioactive element passes through with controlled dwell times. Ultrasound, Sagittal plane

  3. Medical robotics Minimally invasive surgery

  4. Steerable Needle bevel tip flexible needle

  5. Motion Planning R. Alterovitz, et. al. Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. ICRA’05. R. Alterovitz, et. al. Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering. WAFR’06.

  6. 3D Needle Kinematics

  7. Motion Planning of Steerable Needle Algorithm 1: Forward RRT with deterministic sampled control space

  8. Single Entry Point, Multiple Targets The RRT grown in the workspace The feasible entry point and path

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