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Publications - Needle Steering Project

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Journal Publications

  1. Wooram Park, Yan Liu, Yu Zhou, Matthew Moses and Gregory S. Chirikjian, "Kinematic State Estimation and Motion Planning for Stochastic Nonholonomic Systems Using the Exponential Map," Robotica. In Press.
  2. R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian and A. M. Okamura, "Nonholonomic Modeling of Needle Steering," International Journal of Robotics Research, Vol. 25, No. 5-6, pp. 509-525, May-June 2006. It is available at http://online.sagepub.com/

Conference Publications

  1. V. Kallem, D. E. Chang, and N. J. Cowan, "Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering," IEEE/RSJ Intelligent Robots and Systems (IROS), San Diego, USA, 2007.
  2. R. Alterovitz, T. Simeon, and K. Goldberg, "The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty," Robotics: Science and Systems, June 2007.
  3. V. Kallem and N. J. Cowan. Image-Guided Control of Flexible Bevel-Tip Needles. IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.
  4. J. Romano, R. J. Webster III, and A. M. Okamura, "Teleoperation of Steerable Needles", IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.
  5. R. Alterovitz, M. Branicky, and K. Goldberg, "Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering," in Proc. Workshop on the Algorithmic Foundations of Robotics, July 2006.
  6. R. J. Webster, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, "Nonholonomic models for needle steering," In Marcelo H. Jr Ang and Oussama Khatib, editors, Experimental Robotics IX, Vol. 21 of Springer Tracts in Advanced Robotics, pp. 35-44, Singapore, June 2006. (Conference preprint published in 2004.)
  7. R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura, "Steering Flexible Needles Under Markov Motion Uncertainty," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 120-125.
  8. R. Alterovitz, K. Goldberg, and A. M. Okamura, "Planning for Steerable Bevel-Tip Needle Insertion Through 2D Soft Tissue with Obstacles," IEEE International Conference on Robotics and Automation, 2005, pp. 1652-1657.
  9. R. J. Webster III, J. Memisevic and A. M. Okamura, "Design Considerations for Robotic Needle Steering," IEEE International Conference on Robotics and Automation, 2005, pp. 3599-3605.
  10. W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura, and G. S. Chirikjian, "Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model, IEEE International Conference on Robotics and Automation, 2005, pp. 4611-4616.
  11. J. Memisevic, R. J. Webster III and A. M. Okamura, "Design of a Needle Steering Robot for Minimally Invasive Surgery," NSF REU poster at the Biomedical Engineering Society Fall Meeting, Philadelphia, PA, Oct. 13-16, 2004.

Patents

  1. R. J. Webster III, A. M. Okamura, N. J. Cowan, G. S. Chirikjian, K. Y. Goldberg, and R. Alterovitz, Distal Bevel-Tip Needle Control Device and Algorithm, US Patent Pending.

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