University of Groningen
Flexible needle steering for computed tomography-guided interventions
Shahriari, Navid
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2018
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Shahriari, N. (2018). Flexible needle steering for computed tomography-guided interventions. University of
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Flexible Needle Steering
For Computed Tomography-Guided Interventions
Navid Shahriari
Flexible needle steering for computed tomography-guided interventions
PhD thesis, University of Groningen
ISBN: 978-94-034-1217-7 (printed version)
ISBN: 978-94-034-1216-0 (electronic version)
Copyright
©
Navid Shahriari
No part of this thesis may be reproduced, stored or transmitted in any form
or by any means, without permission from the author.
Cover design: Saeedeh Rahimi-Ghahroodi
Cover image: Inspired from a design by Alvaro Cabrera
Printed by: Ipskamp Printing, Enschede
The publication of this thesis was financially supported by University of
Groningen.
Flexible Needle Steering for Computed
Tomography-Guided Interventions
PhD thesis
to obtain the degree of PhD at the University of Groningen
on the authority of the Rector Magnificus Prof. E. Sterken
and in accordance with the decision by the College of Deans. This thesis will be defended in public on Wednesday 12 December 2018at 16.15 hours
by
Navid Shahriari
born on 10 July 1988Promoters
Prof. M. Oudkerk Prof. S. Misra
Assessment committee
Prof. P. van der Harst Prof. C. H. Slump Prof. M. Steinbuch
Contents
1
Introduction
1
2
Design and Evaluation of a Computed Tomography
(CT)-Compatible Needle Insertion Device using an
Electromagn-etic Tracking System and CT Images
25
International Journal of Computer Assisted Radiology and Surgery, 2015
3 Steering an Actuated-Tip Needle in Biological Tissue: Fusing FBG-Sensor Data and Ultrasound Images 49
IEEE International Conference on Robotics and Automation, 2016
4 Computed Tomography (CT)-Compatible Remote Center of Motion Needle Steering Robot: Fusing CT Images and Electromagnetic Sensor
Data 75
International Journal of Medical Engineering and Physics, 2017
5 Flexible Needle Steering in Moving Biological Tissue with Motion Com-pensation using Ultrasound and Force Feedback 103
IEEE Robotics and Automation Letters, 2018
6 Human Cadaver Studies Using a Hybrid Control Algorithm for Flexible
Needle Steering 131
Submitted to PLOS ONE
7 Conclusions and Future Work 157
Summary 161
Publications 165
Acknowledgments 167
Curriculum Vitae 169
