Dynamics and Control of Needle Movement in Percutaneous Interaction with Prostate Tissue, Ph.D. Dissertation Sharif University of Technology ; Jahed, Mehran (Supervisor)
Abstract
In many modern medical procedures, needle insertion is an inevitable part of the diagnosis or treatment protocols. The accuracy of the needle insertion is adversely affected by a number of factors. A needle, frequently assumed to be flexible, is inserted into a soft tissue and induces complex mechanical interactions that may result in considerable uncertainties. Tissue intrinsic characteristics as well as its deformation and rotation may cause dramatic complexities. This work considers the needle movement inside the tissue from the dynamics and control point of view. The proposed approach can be regarded as an initial step towards automation of needle insertion procedures; it can also be...
Cataloging briefDynamics and Control of Needle Movement in Percutaneous Interaction with Prostate Tissue, Ph.D. Dissertation Sharif University of Technology ; Jahed, Mehran (Supervisor)
Abstract
In many modern medical procedures, needle insertion is an inevitable part of the diagnosis or treatment protocols. The accuracy of the needle insertion is adversely affected by a number of factors. A needle, frequently assumed to be flexible, is inserted into a soft tissue and induces complex mechanical interactions that may result in considerable uncertainties. Tissue intrinsic characteristics as well as its deformation and rotation may cause dramatic complexities. This work considers the needle movement inside the tissue from the dynamics and control point of view. The proposed approach can be regarded as an initial step towards automation of needle insertion procedures; it can also be...
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