steerable needles for medical applications

ken goldberg, uc berkeleygoldberg@berkeley.edu

http://goldberg.berkeley.edu

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Prostate Cancer Treatments

Ultrasound, Sagittal plane

Permanent seed: needles insert radioactive seeds

HDR: temporary catheters inserted, radioactive element passes through with controlled dwell times.

Medical roboticsMinimally invasive surgery

Steerable Needle

bevel tip flexible needle

Motion PlanningR. Alterovitz, et. al. Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. ICRA’05.

R. Alterovitz, et. al. Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering. WAFR’06.

3D Needle Kinematics

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Algorithm 1: Forward RRT with deterministic sampled control space

Motion Planning of Steerable Needle

Single Entry Point, Multiple Targets

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The RRT grown in the workspace The feasible entry point and path