Kinematic Modeling of an MRI-Compatible Concentric Steerable Needle Robot based on Screw Theory-Reference-Cited by-同舟云学术

Kinematic Modeling of an MRI-Compatible Concentric Steerable Needle Robot based on Screw Theory

Published:2022-11-25 Issue: Volume: Page:
ISSN:
Container-title:2022 China Automation Congress (CAC)
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Author:

Ye Yongyin¹,Yuan Jieting¹,Zhang Jing¹,Wu Xiyun¹,Wang Xiyu¹,Ding Beichen¹,Li Mengtang¹

Affiliation:

1. Sun Yat-Sen University,Dept. Intelligent Systems Engineering,Shenzhen,China

Funder

National Natural Science Foundation of China

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx7/10054511/10054645/10055278.pdf?arnumber=10055278

Reference18 articles.

1. Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment

2. Enabling helical needle trajectories with minimal actuation: A screw-based approach to concentric tube needle deployment;pitt;Magnetic Resonance Imaging (MRI),2016

3. Design, modeling, and experimental characterization of a fast additively manufacturable mri-compatible pneumatic motor for surgical robots;li;2022 Global Fluid Power Society PhD Symposium (GFPS),2022

4. Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot

5. MRI-Guided Robotically Assisted Focal Laser Ablation of the Prostate Using Canine Cadavers

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