Closed-Loop Planning and Control of Steerable Medical Needles

Steerable needles have the potential to increase the effectiveness of needle-based clinical procedures such as biopsy, drug delivery, and radioactive seed implantation for cancer treatment. These needles can trace curved paths when inserted into tissue, thereby increasing maneuverability and targeting accuracy while reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. Guiding these flexible needles along an intended path requires continuously inserting and twisting the needle at its base, which is not intuitive for a human operator. In addition, the needle often deviates from its intended trajectory due to factors such as tissue deformation, needle-tissue interaction, noisy actuation and sensing, modeling errors, and involuntary patient motions. These challenges can be addressed with the assistance of robotic systems that automatically compensate for these perturbations by performing motion planning and feedback control of the needle in a closed-loop fashion under sensory feedback. We present two approaches for efficient closed-loop guidance of steerable needles to targets within clinically acceptable accuracy while safely avoiding sensitive or impenetrable anatomical structures. The first approach uses a fast motion planning algorithm that unifies planning and control by continuously replanning, enabling correction for perturbations as they occur. We evaluate our method using a needle steering system in phantom and ex vivo animal tissues. The second approach integrates motion planning and feedback control of steerable needles in highly deformable environments. We demonstrate that this approach significantly improves the probability of success compared to prior approaches that either consider uncertainty or deformations but not both simultaneously. We also propose a data-driven method to estimate parameters of stochastic models of steerable needle motion. These models can be used to create realistic medical simulators for clinicians wanting to train for steerable needle procedures and to improve the effectiveness of existing planning and control methods. This dissertation advances the state of the art in planning and control of steerable needles and is an important step towards realizing needle steering in clinical practice. The methods developed in this dissertation also generalize to important applications beyond medical needle steering, such as manipulating deformable objects and control of mobile robots.Doctor of Philosoph

Defense Technical Information Center thesaurus

This DTIC Thesaurus provides a basic multidisciplinary subject term vocabulary used by DTIC to index and retrieve scientific and technical information from its various data bases and to aid DTIC`s users in their information storage and retrieval operations. It includes an alphabetical posting term display, a hierarchy display, and a Keywork Out of Context (KWOC) display

Joe Pawsey and the Founding of Australian Radio Astronomy

This open access book is a biography of Joseph L. Pawsey. It examines not only his life but the birth and growth of the field of radio astronomy and the state of science itself in twentieth century Australia. The book explains how an isolated continent with limited resources grew to be one of the leaders in the study of radio astronomy and the design of instruments to do so. Pawsey made a name for himself in the international astronomy community within a decade after WWII and coined the term radio astronomy. His most valuable talent was his ability to recruit and support bright young scientists who became the technical and methodological innovators of the era, building new telescopes from the Mills Cross and Chris (Christiansen) Cross to the Parkes radio telescope. The development of aperture synthesis and the controversy surrounding the cosmological interpretation of the first major survey which resulted in the Sydney research group's disagreements with Nobel laureate Martin Ryle play major roles in this story. This book also shows the connections among prominent astronomers like Oort, Minkowski, Baade, Struve, famous scientists in the UK such as J.A. Ratcliffe, Edward Appleton and Henry Tizard, and the engineers and physicists in Australia who helped develop the field of radio astronomy. Pawsey was appointed the second Director of the National Radio Astronomy Observatory (Green Bank, West Virginia) in October 1961; he died in Sydney at the age of 54 in late November 1962. Upper level students, scientists and historians will find the information, much of it from primary sources, relevant to any study of Joseph L. Pawsey or radio astronomy. This is an open access book

Joe Pawsey and the Founding of Australian Radio Astronomy

This open access book is a biography of Joseph L. Pawsey. It examines not only his life but the birth and growth of the field of radio astronomy and the state of science itself in twentieth century Australia. The book explains how an isolated continent with limited resources grew to be one of the leaders in the study of radio astronomy and the design of instruments to do so. Pawsey made a name for himself in the international astronomy community within a decade after WWII and coined the term radio astronomy. His most valuable talent was his ability to recruit and support bright young scientists who became the technical and methodological innovators of the era, building new telescopes from the Mills Cross and Chris (Christiansen) Cross to the Parkes radio telescope. The development of aperture synthesis and the controversy surrounding the cosmological interpretation of the first major survey which resulted in the Sydney research group's disagreements with Nobel laureate Martin Ryle play major roles in this story. This book also shows the connections among prominent astronomers like Oort, Minkowski, Baade, Struve, famous scientists in the UK such as J.A. Ratcliffe, Edward Appleton and Henry Tizard, and the engineers and physicists in Australia who helped develop the field of radio astronomy. Pawsey was appointed the second Director of the National Radio Astronomy Observatory (Green Bank, West Virginia) in October 1961; he died in Sydney at the age of 54 in late November 1962. Upper level students, scientists and historians will find the information, much of it from primary sources, relevant to any study of Joseph L. Pawsey or radio astronomy. This is an open access book

Federal Register

Daily publication of the U.S. Office of the Federal Register contains rules and regulations, proposed legislation and rule changes, and other notices, including "Presidential proclamations and Executive Orders, Federal agency documents having general applicability and legal effect, documents required to be published by act of Congress, and other Federal agency documents of public interest" (p. ii). Table of Contents starts on page iii