Dianne Sacco

Image-Guided Surgical Planning for Percutaneous Nephrolithotomy Using CTRs: A Phantom-Based Study

In this paper, we validate the effectiveness of the optimal planning algorithms we have developed for devising surgical plans for Percutaneous Nephrolithotomy (PCNL) using patient-specific Concentric-Tube Robots (CTRs). To do so, we built a life-sized phantom model of the right hemithorax, replicati