Collaboration with SUNY Upstate Medical University

Deflection model for the active tendon-driven notched needle steering inside soft tissue for use in model-based robotic control

Steerable active needles used for high-dose-rate brachytherapy utilizing the curvilinear approach

Allows for active needle steering in MRI bore

Using AI and Deep Learning to develop pretreatment plans for HDR prostate brachytherapy

Active manipulation, control and shape sensing on SMA-activated needle, and ultrasound tracking of the needle tip

Active control and online shape sensing of needle via smart SMA actuators

Thorough studies on phase transformation and thermomechanical training of SMAs for actuation, shape sensing, and precise control

Simultaneous control and shape sensing empowered by SMAs

Experimental evaluations of our prototypes and robotic systems

Image processing and 3D needle shape visualization

Proof of concept and experimental evaluations: active needle bending via two active components: SMA and SMP

Needle insertion simulation using LSDYNA software

Mechanical model of needle-tissue interaction considering puncture, friction and actuation forces

Developing mathematical and constitutive models for the smart components

Best design configuration of the active needle to have the desired performance (high flexibility, manipulation and control)

Studying the behavior of shape memory polymers as an active joint for active needle

Activating passive medical instruments using SMAs and SMPs - enabling online shape sensing