ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2024
Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
What it found
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The trial behind it
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Who cites it
7 citing papers in PubMed.
- Dynamic Force Modeling and Lateral Perturbation Analysis of Needle Insertion into Soft Tissues.Bioengineering (Basel, Switzerland) · 2026Article
- Machine learning model for fast prediction and uncertainty quantification of needle deflection during prostate biopsy.Medical physics · 2026Article
- High-Precision Autonomous Control of Flexible Needles via Real-Time Finite Element Simulation and Cross-Entropy Optimization.IEEE robotics and automation letters · 2025Article
- Analysis of Needle Placement Error During Prostate Biopsies in Real Clinical Cases: Effects of Needle Tip Orientation and Target Location.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
- Evaluation of Needle Manipulation Controller Subject to Uncertainty of Tip Pose Feedback: A Simulation Study.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
- Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
- Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2024Article
Corrections and comments
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Authors and funding
7 authors.
Funding
Abstract
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 robot assistance and medical imaging guidance due to needle deflection caused by contact with soft tissues. In this paper, we present a novel mechanics-based 2D bevel-tip needle model that can account for the effect of nonlinear strain-dependent behavior of biological soft tissues under compression. Real-time finite element simulation allows multiple control inputs along the length of the needle with full three-degree-of-freedom (DOF) planar needle motions. Cross-validation studies using custom-designed multi-layer tissue phantoms as well as heterogeneous chicken breast tissues result in less than 1mm in-plane errors for insertions reaching depths of up to 61 mm, demonstrating the validity and generalizability of the proposed method.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.