Thuc Long Ha — accepted AI-conference papers

2026

Real-Time Robotic Needle Insertion in Deformable and Moving Structure Using Learning-By-Example Method

Thuc Long Ha, Julien Bert, Hadrien Courtecuisse

ICRA 2026poster

This paper presents an innovative and practical method for robotic needle steering in radio-frequency ablation (RFA) to treat cancer. One of the main challenges in this process is that tissue shifts and deforms during needle insertion, making it difficult to accurately predict the needle's path in r…

Cited by 0 Scholar ↗

2024

Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint

Thuc Long Ha, Julien Bert, Hadrien Courtecuisse

IROS 2024poster

This paper presents an innovative approach for executing robotic needle insertion within deformable living organs. The objective is to maintain the insertion pivot point on the skin, which remains stationary. At the same time, the organs undergo displacement and deformation due to respiration. There…

Cited by 1 Source ↗Scholar ↗