Flexible needle steering for percutaneous therapies

Figures & data

Figure 1. Virtual springs model. The interaction of the tissue with the needle is modeled by distributed virtual springs. [Color version available online.]

Figure 2. Linear system model. A flexible beam subjected to a number of virtual springs. [Color version available online.]

Figure 3. Several needle path solutions for the same tip position with different tip inclinations. [Color version available online.]

Figure 4. Needle insertion simulation for tip orientation tangent to the path. [Color version available online.]

Figure 5. Needle insertion simulation minimizing lateral pressure on the tissue. [Color version available online.]

Figure 6. Needle insertion by robot corresponding to simulation steps 1, 3, 4 and 6 (see Figure 5). [Color version available online.]

Figure 7. a) Experimental setup with X-ray imaging. b) Spinal needle, force sensor and liver tissue. [Color version available online.]

Figure 8. a) Needle and tissue image. b) Detected needle and planned insertion path. [Color version available online.]

Figure 9. a) Needle insertion in chicken breast. b) Needle insertion in liver.