Special Section Technical Briefs

Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators1

[+] Author and Article Information
E. Bryn Pitt, David B. Comber, Yue Chen, Robert J. Webster, III, Eric J. Barth

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235

Joseph S. Neimat

Department of Neurological Surgery,
Vanderbilt University Medical Center,
Nashville, TN 37232

DOI: 10.1115/1.4033242Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online May 12, 2016. Editor: William Durfee.

J. Med. Devices 10(2), 020945 (May 12, 2016) (2 pages) Paper No: MED-16-1170; doi: 10.1115/1.4033242 History: Received March 01, 2016; Revised March 17, 2016

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Grahic Jump Location
Fig. 1

Robot with helical steerable needle

Grahic Jump Location
Fig. 2

Rotational displacement tracking

Grahic Jump Location
Fig. 3

Translational displacement tracking



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