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Skip to Search Results- 7Medical Robotics
- 3Needle Steering
- 2Motion Planning
- 1AI for Medicine
- 1Actuation
- 1Artificial Intelligence
- 1Afshar, Mehrnoosh
- 1Akbari, Mojtaba
- 1Ana Luisa Trejos
- 1Carriere, Jay T
- 1Khadem, Seyed Mohsen
- 1Lehmann, Thomas D
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Fall 2020
Haptic interaction is the human's most basic way to understand an environment and effect change in it. Haptic feedback provides humans who operate machines with a sense of touching objects they are not actually touching but are manipulating by the machines. Haptic feedback allows the human...
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Fall 2017
Percutaneous needle insertion is a common type of minimally invasive surgery used for diagnostic and therapeutic applications such as biopsy, drug delivery, and cancer treatment. Prostate brachytherapy is a needle-based intervention, which is used for cancer treatment. In brachytherapy the...
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Motion Planning of Robotic Systems in Diagnostic and Therapy Applications Using Control and AI
DownloadFall 2023
This thesis presents significant research on robotic motion planning within diagnostic and therapy applications, with a primary focus on the integration of control and AI techniques. The research encompasses three main contributions: a robotic ultrasound imaging method, a robot-assisted...
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Spring 2018
Needle insertion is a minimally invasive intervention for procedures involving drug delivery, biopsy, and radiation therapy. In the prominent radiation therapy procedure prostate brachytherapy, rice grain sized radioactive seeds are introduced into soft tissue via needles in and around the...
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Fall 2023
Low-dose-rate-permanent-seed (LDR-PS) brachytherapy is a minimally inva- sive radiotherapy technique used after breast lumpectomy to prevent the re- growth of cancerous cells around the margins of a hollowed-out tumor (seroma). This approach involves implanting multiple radioactive seeds (each...
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Spring 2019
Percutaneous procedures, those involving the insertion of needles into tissue, encompass a wide array of clinical applications and are used in both therapeutic and diagnostic modalities. In either of these modalities, the needle must be steered accurately towards a target location to maximize the...