3 accepted papers
Robot-assisted needle insertion is widely employed in minimally invasive percutaneous interventions such as biopsy, brachytherapy, or ablation; however, most existing systems predominantly emphasize needle dexterity and manipulation within the soft tissue, neglecting the significant challenge of per
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy of needle placement, which remains a challenge even with robo…
This study addresses the targeting challenges in MRI-guided transperineal needle placement for prostate cancer (PCa) diagnosis and treatment, a procedure where accuracy is crucial for effective outcomes. We introduce a parameter-agnostic trajectory correction approach incorporating a data-driven clo