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Related Experiment Video

Updated: Aug 22, 2025

Three-Dimensional Finger Motion Tracking during Needling: A Solution for the Kinematic Analysis of Acupuncture Manipulation

Three-Dimensional Finger Motion Tracking during Needling: A Solution for the Kinematic Analysis of Acupuncture Manipulation

Published on: October 28, 2021

Resolution-Optimal Motion Planning for Steerable Needles.

Mengyu Fu¹, Kiril Solovey², Oren Salzman²

¹Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, USA.

IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation

|November 7, 2022

Summary

This summary is machine-generated.

This study introduces a novel motion planner for steerable needles, improving accuracy and speed in medical procedures. The planner offers theoretical guarantees and practical benefits for minimally invasive interventions.

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Last Updated: Aug 22, 2025

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Area of Science:

Robotics and Medical Devices
Computational Geometry
Minimally Invasive Surgery

Background:

Steerable needles enable complex 3D trajectories for precise targeting in minimally invasive procedures.
Automating needle steering, particularly motion planning, is crucial for enhancing accuracy, speed, and safety.

Purpose of the Study:

To introduce the first resolution-optimal motion planner for steerable needles.
To provide theoretical guarantees of completeness and global optimality while ensuring practical efficiency.

Main Methods:

Development of a novel motion planning algorithm for steerable needles.
Theoretical analysis of completeness and optimality guarantees.
Simulation experiments on realistic lung biopsy scenarios.

Main Results:

The proposed planner achieves resolution optimality with strong theoretical guarantees.
Demonstrated faster generation of higher-quality motion plans compared to state-of-the-art methods.
Incorporation of clinically relevant cost functions improved practical performance.

Conclusions:

The novel motion planner offers a practical and theoretically sound solution for steerable needle automation.
The planner's ability to generate high-quality plans efficiently can minimize patient trauma.
This advancement holds significant potential for improving the safety and efficacy of minimally invasive procedures.