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ROBOTIC NEEDLE INSERTION SYSTEM: ACTIVE MANIPULATION, CONTROL AND SHAPE SENSING OF NEEDLE WITH INTERAOPERATIVE ULTRASOUND TRACKING OF THE NEEDLE TIP

roboticneedleinsertionultrasoundtracking

Journal Papers

- Varnamkhasti, Z.K. and Konh, B., 2019. Design and performance study of a novel minimally invasive active surgical needle. ASME Journal of Medical Devices, 13 (4), p.041006 (9 pages).

- Konh, B., Sasaki, D., Podder, T.K., and Ashrafiuon, H., 2019. 3D manipulation of an active steerable needle via actuation of multiple SMA wires. Robotica, pp.1-17. (https://doi.org/10.1017/S0263574719000705).

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Conference Papers

- Varnamkhasti, Z.K., Konh, B., 2020, April. Cable-driven 3D steerable surgical needle for needle-based procedures. In 2020 Design of Medical Devices Conference. American Society of Mechanical Engineers (under review)

- Karimi, S., Konh, B., 2020, April. Dynamic characteristic analysis and FEM modeling in control of an SMA-actuated multi-link flexible joint active needle. In 2020 Design of Medical Devices Conference. American Society of Mechanical Engineers (under review)

- Karimi, S., Konh, B., 2019, April. 3D steerable active surgical needle. In 2019 Design of Medical Devices Conference. American Society of Mechanical Engineers (Paper No. DMD2019-3307, pp. V001T06A015; 6 pages; doi:10.1115/DMD2019-3307)

- Varnamkhasti, Z.K., Konh, B., Maghsoudi, O.H., Yu, Y., Liao, L., 2019, April. Ultrasound needle tracking inside a soft phantom and methods to improve the needle tip visualization. In 2019 Design of Medical Devices Conference. American Society of Mechanical Engineers (Paper No. DMD2019-3299, pp. V001T06A012; 6 pages

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Journal Papers

  1. Konh, B., Padasdao, B., Batsaikhan, Z., Ko, S. Y., (2021) "Integrating Robot-Assisted Ultrasound Tracking and 3D Needle Shape Prediction for Real-Time Tracking of the Needle Tip in Needle Steering Procedures", The International Journal Of Medical Robotics And Computer Assisted Surgery

  2. Padasdao, B., Varnamkhasti, Z. K., and Konh, B., (2021) "3D steerable biopsy needle with a motorized manipulation system and ultrasound tracking to navigate inside tissue", Journal of Medical Robotics Research, 5 (3 & 4), 2150003-2150020

  3. Karimi, S., and Konh, B., (2020) "Self-sensing electrical resistance feedback control of multiple interacting SMA actuators in a 3D steerable active needle", Journal of Intelligent Material Systems and Structures, 31 (12), 1524-154024-1540.

  4. Varnamkhasti, Z. K., and Konh, B., (2019) "Design and performance study of a novel minimally invasive active surgical needle", ASME Journal of medical devices

  5. Konh, B., Sasaki, D., Podder, T. K., and Ashrafiuon, H., (2019) "3D manipulation of an active steerable needle via actuation of multiple SMA wires", Robotica, 1-17.

  6. Konh, B., Honarvar, M., Darvish, K., and Hutapea, P., (2017) "Simulation and experimental studies in needle–tissue interactions", Journal of Clinical Monitoring and Computing, 31(4), pp.861-872.

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Conference Papers

  1. Karimi, S., Konh, B., 2019, April. 3D steerable active surgical needle. In 2019 Design of Medical Devices Conference. American Society of Mechanical Engineers (Paper No. DMD2019-3307, pp. V001T06A015; 6 pages; doi:10.1115/DMD2019-3307).

  2. Varnamkhasti, Z.K., Konh, B., Maghsoudi, O.H., Yu, Y., Liao, L., 2019, April. Ultrasound needle tracking inside a soft phantom and methods to improve the needle tip visualization. In 2019 Design of Medical Devices Conference. American Society of Mechanical Engineers (Paper No. DMD2019-3299, pp. V001T06A012; 6 pages

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