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cs.RO2024
Safe Start Regions for Medical Steerable Needle Automation
Janine Hoelscher, Inbar Fried, Spiros Tsalikis +3
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be u…
cs.RO2022
Autonomous Medical Needle Steering In Vivo
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop +10
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle…
cs.RO2021
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop +8
Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone i…