A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation
Janine Hoelscher,Inbar Fried,Mengyu Fu,Mihir Patwardhan,Max Christman,Jason Akulian,Robert J. Webster,Ron Alterovitz,Janine Hoelscher,Inbar Fried,Mengyu Fu,Mihir Patwardhan,Max Christman,Jason Akulian,Robert J. Webster,Ron Alterovitz
Steerable needles are medical devices with the ability to follow curvilinear paths to reach targets while circumventing obstacles. In the deployment process, a human operator typically places the steerable needle at its start position on a tissue surface and then hands off control to the automation that steers the needle to the target. Due to uncertainty in the placement of the needle by the human...
