Robots ultrasound (RUS) can be defined as the combination of ultrasound imaging with a
robotic system in medical interventions. With their potential for high precision, dexterity, and …

In the past decade, medical robotics has gained significant traction within the surgical field.
While the introduction of fully autonomous robotic systems for surgical procedures still …

Tissue manipulation is a frequently used fundamental subtask of any surgical procedures,
and in some cases it may require the involvement of a surgeon's assistant. The complex …

Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and
scientific studies, and is considered to be one of the simplest and most minimally invasive …

Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …

A major issue for needle insertion into soft tissue during suturing is the induced tissue
deformation that hinders the minimization of tip-target positioning error. In this letter, we …

BACKGROUND Image-guided percutaneous biopsy is a common procedure in oncology,
integral to confirming the diagnosis of cancer, staging the disease, and determining tumor …

Robotic needle steering systems have the potential to greatly improve medical interventions,
but they require new methods for medical image guidance. Three-dimensional (3-D) …

This chapter describes how advances in needle design, modeling, planning, and image
guidance make it possible to steer flexible needles from outside the body to reach specified …

Steerable needles can potentially increase the accuracy of needle-based diagnosis and
therapy delivery, provided they can be adequately controlled based on medical image …