Background Minimally invasive biopsies, drainages and therapies in the soft tissue organs
of the thorax and abdomen are typically performed through a needle, which is inserted …

Recent technological developments in magnetic resonance imaging (MRI) and stereotactic
techniques have significantly improved surgical outcomes. Despite the advantages offered …

Capsule endoscopy is a promising technique for diagnosing diseases in the digestive
system. Here we design and characterize a miniature swimming mechanism that uses the …

Successful neurosurgical procedures hinge on the accurate targeting of regions of interest.
Resection of brain tumors is enhanced by the surgeon's ability to accurately define margins …

Numerous research groups in the past have designed and developed robotic needle guide
systems that improve the targeting accuracy and precision by either providing a physical …

A software system to provide intuitive navigation for MRI-guided robotic transperineal
prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the …

Magnetic resonance imaging (MRI)-guided intervention for the liver and kidney has
achieved considerable progress in tumor diagnosis and treatment over the past two …

MRI-guided percutaneous liver interventions have been investigated by researchers as an
alternative to CT-guided procedures as it is non-invasive and provides greater soft tissue …

Background Our goal was to develop a three-dimensional finite element model that enables
dynamic analysis of needle insertion for soft materials. To demonstrate large deformation …

Image-guided interventions have become the standard of care for needle-based
procedures. The success of the image-guided procedures depends on the ability to …