3 accepted papers
Bevel-tip steerable needles for percutaneous intervention are prone to torsion determined by the interaction forces with the human tissue. If disregarded, torsion can affect the insertion accuracy inducing a change in the needle tip orientation, which is generally undetectable by tracking devices be
Needle pose tracking is fundamental to achieve a precise and safe insertion in minimally-invasive percutaneous interventions. In this work, a method for estimating the full pose of steerable needles is presented, considering a four-segment Programmable Bevel-Tip Needle (PBN) as a case study. The met…
In this paper, an automatic planner for minimally invasive neurosurgery is presented. The solution provides the neurosurgeon with the best path to connect a user-defined entry point with a target in accordance with a specific cost function. The approach guarantees the avoidance of obstacles which ca…