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Autonomous medical needle steering in vivo.
Kuntz A, Emerson M, Ertop TE, Fried I, Fu M, Hoelscher J, Rox M, Akulian J, Gillaspie EA, Lee YZ, Maldonado F, Webster RJ 3rd, Alterovitz R. Kuntz A, et al. Among authors: fu m. Sci Robot. 2023 Sep 20;8(82):eadf7614. doi: 10.1126/scirobotics.adf7614. Epub 2023 Sep 20. Sci Robot. 2023. PMID: 37729421
Backward Planning for a Multi-Stage Steerable Needle Lung Robot.
Hoelscher J, Fu M, Fried I, Emerson M, Ertop TE, Rox M, Kuntz A, Akulian JA, Webster RJ 3rd, Alterovitz R. Hoelscher J, et al. Among authors: fu m. IEEE Robot Autom Lett. 2021 Apr;6(2):3987-3994. doi: 10.1109/lra.2021.3066962. Epub 2021 Mar 17. IEEE Robot Autom Lett. 2021. PMID: 33937523 Free PMC article.
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.
Fried I, Hoelscher J, Fu M, Emerson M, Ertop TE, Rox M, Granna J, Kuntz A, Akulian JA, Webster RJ 3rd, Alterovitz R. Fried I, et al. Among authors: fu m. IEEE Int Conf Robot Autom. 2021 May-Jun;2021:10.1109/icra48506.2021.9561342. doi: 10.1109/icra48506.2021.9561342. Epub 2021 Oct 18. IEEE Int Conf Robot Autom. 2021. PMID: 34721939 Free PMC article.
STEERABLE NEEDLE TRAJECTORY FOLLOWING IN THE LUNG: TORSIONAL DEADBAND COMPENSATION AND FULL POSE ESTIMATION WITH 5DOF FEEDBACK FOR NEEDLES PASSING THROUGH FLEXIBLE ENDOSCOPES.
Ertop TE, Emerson M, Rox M, Granna J, Maldonado F, Gillaspie E, Lester M, Kuntz A, Rucker C, Fu M, Hoelscher J, Fried I, Alterovitz R, Webster R. Ertop TE, et al. Among authors: fu m. Proc ASME Dyn Syst Control Conf. 2020 Oct;2020:V001T05A003. doi: 10.1115/DSCC2020-3163. Proc ASME Dyn Syst Control Conf. 2020. PMID: 35284151 Free PMC article.
Resolution-Optimal Motion Planning for Steerable Needles.
Fu M, Solovey K, Salzman O, Alterovitz R. Fu M, et al. IEEE Int Conf Robot Autom. 2022 May;2022:9652-9659. doi: 10.1109/icra46639.2022.9811850. Epub 2022 Jul 12. IEEE Int Conf Robot Autom. 2022. PMID: 36337768 Free PMC article.
4,389 results