Abstract: A system and method for tracking a position of an interventional medical device configured to be deployed into a subject during a medical procedure. An anatomical dataset of the subject is acquired while at least one electrical sensor is disposed along the interventional medical device. A feedback signal is generated from the electrical sensor and is processed and analyzed to identify positional information of the interventional medical device. A position of the interventional medical device with respect to the anatomical dataset is identified and the position of the interventional medical device with respect to the anatomical dataset is shown on a display.

Abstract: A system and method for tracking a position of an interventional medical device configured to be deployed into a subject during a medical procedure. An anatomical dataset of the subject is acquired while at least one electrical sensor is disposed along the interventional medical device. A feedback signal is generated from the electrical sensor and is processed and analyzed to identify positional information of the interventional medical device. A position of the interventional medical device with respect to the anatomical dataset is identified and the position of the interventional medical device with respect to the anatomical dataset is shown on a display.

Abstract: Disclosed is a system for percutaneously steering a surgical needle. Needle steering is accomplished by taking advantage of a deflection force imparted on the bevel tip of the needle by the tissue medium as the needle is pushed through the tissue. By controlling the translation speed and rotation angle of the bevel, a flexible needle may be steered substantially without deflecting or distorting the tissue. The control inputs (translation speed and rotation angle) are computed based on a “bicycle” non-holonomic kinematic model that is a function of mechanical properties of the tissue medium. The system may be used with image-based feedback, which may provide for feedback-based refinement of the model as the needle propagates through the tissue.