4 papers · 1 filter
SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
Laura Connolly, Aravind S. Kumar, Kapi Ketan Mehta +9
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (R…
Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers
Yanzhou Wang, Lidia Al-Zogbi, Jiawei Liu +6
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compens…
MR-conditional Robotic Actuation of Concentric Tendon-Driven Cardiac Catheters
Yifan Wang, Zheng Qiu, Junichi Tokuda +3
Atrial fibrillation (AF) and ventricular tachycardia (VT) are two of the sustained arrhythmias that significantly affect the quality of life of patients. Treatment of AF and VT oft…
Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues
Yanzhou Wang, Lidia Al-Zogbi, Guanyun Liu +4
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome…