2008 Research Summary

Steering Flexible Needles through Soft Tissues

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Ken Goldberg

This project will develop a new approach to real-time image-guided adaptive needle placement. We will design, prototype, and evaluate a working system that will steer flexible needles from outside the body through deformable tissues to reach specified 3D anatomical targets. Our approach will integrate real-time imaging, adaptive modeling and planning, and image-guided intraoperative needle control.