Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume
Inbar Fried Janine Hoelscher Mengyu Fu Maxwell Emerson Tayfun Efe Ertop Margaret Rox Josephine Granna Alan Kuntz Jason A. Akulian Robert J. Webster Ron Alterovitz Inbar Fried Janine Hoelscher Mengyu Fu Maxwell Emerson Tayfun Efe Ertop Margaret Rox Josephine Granna Alan Kuntz Jason A. Akulian Robert J. Webster Ron Alterovitz
Steerable needles that are able to follow curvilinear trajectories and steer around anatomical obstacles are a promising solution for many interventional procedures. In the lung, these needles can be deployed from the tip of a conventional bronchoscope to reach lung lesions for diagnosis. The reach of such a device depends on several design parameters including the bronchoscope diameter, the angle...