Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Synthesizing Strategies for Needle Steering in Gelatin Phantoms   In medicine, needles are frequently used to deliver treatments to subsurface
targets or to take tissue samples from the inside of an organ. Current clinical
practice is to insert needles under image guidance or haptic feedback, although
that may involve reinsertions and adjustments since the needle and its
interaction with the tissue during insertion cannot be completely controlled.
(Automated) needle steering could in theory improve the accuracy with which a
target is reached and thus reduce surgical traumata especially for minimally
invasive procedures, e.g., brachytherapy or biopsy. Yet, flexible needles and
needle-tissue interaction are both complex and expensive to model and can often
be computed approximatively only. In this paper we propose to employ timed
games to navigate flexible needles with a bevel tip to reach a fixed target in
tissue. We use a simple non-holonomic model of needle-tissue interaction, which
abstracts in particular from the various physical forces involved and appears
to be simplistic compared to related models from medical robotics. Based on the
model, we synthesize strategies from which we can derive sufficiently precise
motion plans to steer the needle in soft tissue. However, applying those
strategies in practice, one is faced with the problem of an unpredictable
behavior of the needle at the initial insertion point. Our proposal is to
implement a preprocessing step to initialize the model based on data from the
real system, once the needle is inserted. Taking into account the actual needle
tip angle and position, we generate strategies to reach the desired target. We
have implemented the model in Uppaal Stratego and evaluated it on steering a
flexible needle in gelatin phantoms; gelatin phantoms are commonly used in
medical technology to simulate the behavior of soft tissue. The experiments
show that strategies can be synthesized for both generated and measured needle
motions with a maximum deviation of 1.84mm.

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The categories of this paper are: solv-int
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The categories of this paper are: atom-ph
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The categories of this paper are: q-fin
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The categories of this paper are: mtrl-th
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The categories of this paper are: math-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: alg-geom
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The categories of this paper are: acc-phys
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The categories of this paper are: hep-ex
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The categories of this paper are: bayes-an
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The categories of this paper are: comp-gas
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The categories of this paper are: quant-ph
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The categories of this paper are: supr-con
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The categories of this paper are: nucl-ex
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The categories of this paper are: chao-dyn
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The categories of this paper are: ao-sci