SP-0126 Steering of needles and applicators
نویسندگان
چکیده
منابع مشابه
The Path-of-probability Algorithm for Steering and Feedback Control of Flexible Needles
In this paper we develop a new framework for path planning of flexible needles with bevel tips. Based on a stochastic model of needle steering, the probability density function for the needle tip pose is approximated as a Gaussian. The means and covariances are estimated using an error propagation algorithm which has second order accuracy. Then we adapt the path-of-probability (POP) algorithm t...
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Bevel-tip steerable needles are a promising new technology for improving accuracy and accessibility in minimally invasive medical procedures. As yet, 3D needle steering has not been demonstrated in the presence of tissue deformation and uncertainty, despite the application of progressively more sophisticated planning algorithms. This paper presents a feedback controller that steers a needle alo...
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A 55-YR-OLD man with endstage renal disease presented for emergent removal of an infected arteriovenous dialysis graft. This patient had multisystemic disease, including hepatitis C, human immunodeficiency virus, cardiomyopathy, and atrial fibrillation. He also had a history of left internal jugular thrombosis and right common carotid septic pseudoaneurysm, corrected via partial sternotomy. A c...
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Steering Bronchoscope-deployed Needles through Porcine Lung Tissue A. Kuntz, P. J. Swaney, A. Mahoney, R. H. Feins, Y. Z. Lee, R. J. Webster III, R. Alterovitz Department of Computer Science, University of North Carolina at Chapel Hill, USA Department of Mechanical Engineering, Vanderbilt University, USA Division of Cardiothoracic Surgery, University of North Carolina School of Medicine, USA De...
متن کاملModeling and Optimal Control of 4 Wheel Steering Vehicle Using LQR and its Comparison with 2 Wheel Steering Vehicle
In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...
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ژورنال
عنوان ژورنال: Radiotherapy and Oncology
سال: 2019
ISSN: 0167-8140
DOI: 10.1016/s0167-8140(19)30546-8