Bevel

Force Modeling for Needle Insertion Into Soft Tissue

Allison M. Okamura, Christina Simone, M.D. O'Leary

Citations: 815 • 2004

Nonholonomic Modeling of Needle Steering

Robert J. Webster, Jin Seob Kim, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura

Citations: 620 • 2006

Nonholonomic Modeling of Needle Steering

Robert J. Webster, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura

Citations: 528 • 2006

Mechanics of Flexible Needles Robotically Steered through Soft Tissue

Sarthak Misra, Kyle B. Reed, B.W. Schafer, K.T. Ramesh, Allison M. Okamura

Citations: 306 • 2010

Needle–tissue interaction forces – A survey of experimental data

Dennis J. van Gerwen, Jenny Dankelman, John J. van den Dobbelsteen

Citations: 247 • 2012

Experimental study of needle–tissue interaction forces: Effect of needle geometries, insertion methods and tissue characteristics

Shan Jiang, Pan Li, Yan Yu, Jun Liu, Zhiyong Yang

Citations: 149 • 2014

Modeling and Control of Needles With Torsional Friction

Kyle B. Reed, Allison M. Okamura, Noah J. Cowan

Citations: 104 • 2009

Closed-Loop Planar Motion Control of a Steerable Probe With a “Programmable Bevel” Inspired by Nature

Seong Young Ko, Luca Frasson, Ferdinando Rodriguez y Baena

Citations: 103 • 2011

Robotic needle insertion: effects of friction and needle geometry

M.D. O'Leary, Christina Simone, Toshikatsu Washio, K. Yoshinaka, Allison M. Okamura

Citations: 103 • 2004

Issues in closed-loop needle steering

Carlos Rossa, Mahdi Tavakoli

Citations: 102 • 2017

Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue

Ann Majewicz Fey, Steven P. Marra, Mark G. van Vledder, MingDe Lin, Michael A. Choti, Danny Y. Song, Allison M. Okamura

Citations: 90 • 2012

Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning

Mariana C. Bernardes, Bruno Vilhena Adorno, Philippe Poignet, Geovany A. Borges

Citations: 80 • 2013

The kinematics of spatial robotic bevel-gear trains

Lung‐Wen Tsai

Citations: 76 • 1988

Observations and models for needle-tissue interactions

Sarthak Misra, Kyle B. Reed, B.W. Schafer, K.T. Ramesh, Allison M. Okamura

Citations: 59 • 2009

Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles

Philip J. Swaney, Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik P. Lamers, Richard H. Feins, Ron Alterovitz, Robert J. Webster

Citations: 58 • 2016

Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

Reza Seifabadi, Sang-Eun Song, Axel Krieger, Nathan Bongjoon Cho, Junichi Tokuda, Gábor Fichtinger, Iulian Iordachita

Citations: 58 • 2011

A mechanics-based model for simulation and control of flexible needle insertion in soft tissue

Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli

Citations: 53 • 2015

Evaluation of robotic needle steering in ex vivo tissue

Ann Majewicz Fey, Thomas R. Wedlick, Kyle B. Reed, Allison M. Okamura

Citations: 51 • 2010

Teleoperation of Steerable Needles

Joseph M. Romano, Robert J. Webster, Allison M. Okamura

Citations: 48 • 2007

Functionalized core-shell hydrogel microsprings by anisotropic gelation with bevel-tip capillary

Koki Yoshida, Hiroaki Onoe

Citations: 46 • 2017