Titlebook: Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2004; 7th International Co Christian Barillot,David R. Haynor,Pierre H

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Handheld Laparoscopic Forceps Manipulator Using Multi-slider Linkage Mechanismsriven grasping mechanism. Careful design of the linkage channels enables unique and independent bending procedure from –90 to 90 degrees on the horizontal and vertical plane to secure large workspace. The manipulator consists of multi-DOFs end-effector, linear-drive unit, dial-type interface and com

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Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapiesel, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can be computed for any desired needle tip path. It is shown that the needle base trajectory

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