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Topic Id:

ID topic:	189
Partner Email:	guvenir@cs.bilkent.edu.tr
Project Title:	Planning of a Needle Insertion in Surgeries
Abstract:	Needle insertion is one of the most widespread surgical techniques in existence, and it is a very critical aspect for many medical diagnoses and treatments. The effectiveness of the technique highly relies on correct targeting of the needle, which generally is challenging due to lack of maneuverability in tissue, limited vision and obstructions between the needles entry point and the target. So far models for needles, which allows one to use path planning algorithms developed by the robotics community, have been developed to compensate the errors in targeting of the needle. This presentation briefly describes some previous works in needle steering by giving details of a needle model, which is built in consideration of the bevel-tip asymmetry, and a planning algorithm that uses this model for the planning of a needle insertion.
Advisor:	Halil Altay Guvenir
Link:
Degree:	Master
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