A new geometry-based plan for inserting flexible needles to reach multiple targets

The tip of a flexible needle with a bevel tip approximately follows a planar arc when it is inserted into soft tissue only with the force applied to the needle along the needle axis. The direction of the arc can be controlled by the rotation input around the needle axis. This flexible and steerable...

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Veröffentlicht in:	Robotica 2014-09, Vol.32 (6), p.985-1004
Hauptverfasser:	Bobrenkov, Oleg A., Lee, Jaeyeon, Park, Wooram
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Damage Insertion Mathematical models Needles Obstacles Optimization Ports Trajectories
Online-Zugang:	Volltext
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