Needle steering system using duty-cycled rotation for percutaneous kidney access

Nathan Wood, Khaled Shahrour, Michael C. Ost, and Cameron Riviere
Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 5432-5435.


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Abstract
The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.

Keywords
surgery, medical robotics, needle steering, urology, kidney, access

Notes
Associated Center(s) / Consortia: Medical Robotics Technology Center
Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory
Associated Project(s): Needle Steering for Brain Surgery

Text Reference
Nathan Wood, Khaled Shahrour, Michael C. Ost, and Cameron Riviere, "Needle steering system using duty-cycled rotation for percutaneous kidney access," Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, October, 2010, pp. 5432-5435.

BibTeX Reference
@inproceedings{Wood_2010_6703,
   author = "Nathan Wood and Khaled Shahrour and Michael C. Ost and Cameron Riviere",
   title = "Needle steering system using duty-cycled rotation for percutaneous kidney access",
   booktitle = "Proc. Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "5432-5435",
   month = "October",
   year = "2010",
}