Interactive retinal vessel extraction by integrating vessel tracing and graph search.

Despite recent advances, automatic blood vessel extraction from low quality retina images remains difficult. We propose an interactive approach that enables a user to efficiently obtain near perfect vessel segmentation with a few mouse clicks. Given two seed points, the approach seeks an optimal path between them by minimizing a cost function.

Robot-Assisted Needle Steering.

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 medical procedures. Robot-assisted needle steering has the potential to improve the effectiveness of existing medical procedures and enable new ones by allowing increased accuracy through more dexterous control of the needle tip path and acquisition of targets not accessible by straight-line trajectories. In this article, we describe a robot-assisted needle steering system that uses three integrated controllers: a motion planner concerned with guiding the needle around obstacles to a target in a desired plane, a planar controller that maintains the needle in the desired plane, and a torsion compensator that controls the needle tip orientation about the axis of the needle shaft.

Task-Induced Symmetry and Reduction with Application to Needle Steering.

Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mechanical system at hand, e.g.

Image Guidance of Flexible Tip-Steerable Needles.

Image guidance promises to improve targeting accuracy and broaden the scope of medical procedures performed with needles. This paper takes a step toward automating the guidance of a flexible tip-steerable needle as it is inserted into human tissue. We build upon a previously proposed nonholonomic model of needles that derive steering from asymmetric bevel forces at the tip.

Integrated Planning and Image-Guided Control for Planar Needle Steering.

Flexible, tip-steerable needles promise to enhance physicians' abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intra-operative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180° rotations of the needle shaft.

Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering.

Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mechanical system at hand, e.g.

Image-guided Control of Flexible Bevel-Tip Needles.

Physicians perform percutaneous therapies in many diagnostic and therapeutic procedures. Image guidance promises to improve targeting accuracy and broaden the scope of needle interventions. In this paper, we consider the possibility of automating the guidance of a flexible bevel-tip needle as it is inserted into human tissue.