@proceedings {doi:10.1117/12.876604,
	title = {Preliminary evaluation of robotic needle distal tip repositioning},
	journal = {Proc. SPIE},
	volume = {7901},
	year = {2011},
	pages = {790108},
	address = {San Francisco, CA, USA, January 22-27},
	abstract = {Advances in medical imaging now provide detailed images of solid tumors inside the body and miniaturized energy delivery systems enable tumor destruction through local heating powered by a thin electrode. We have developed a robot for accurately repositioning the distal tip of a medical instrument such an ablation probe to adjacent points within tissue. The position accuracy in ballistics gelatin was evaluated in a 2D experimental setup with a digital SLR camera that was fixed to a rig that also contained the gelatin. The robot was mounted to the rig in such a way that the stylet was deployed in a plane parallel the camera{\textquoteright}s lens. A grid paper attached to the back of the box containing the gelatin provided a stationary reference point for each of the pictures taken and also served as a coordinate system for making measurements. The measurement repeatability error was found by taking a stylet tip position measurement five times for two different pictures and found to be 0.26 mm. For a stylet with a radius of curvature of 31.5 mm and a diameter of 0.838 mm, the targeting accuracy was found to be 2.5 {\textpm} 1.4 mm at points that were approximately 38 mm lateral from the cannula axis.},
	doi = {10.1117/12.876604},
	url = {http://dx.doi.org/10.1117/12.876604},
	author = {Walsh, Conor J. and Slocum, Alexander H. and Rajiv Gupta}
}
