2023
Development and Experimental Verification of a 3D Dynamic Absolute Nodal Coordinate Formulation Model of Flexible Prostate Biopsy/Brachytherapy Needles
ICRA 2023poster
Robot-assisted percutaneous needle insertion is expected to significantly increase targeting accuracy in minimally invasive operations. For this, it is necessary to provide mathematical models that can accurately capture the underlying dynamics of medical needles. Here, we present a novel nonlinear…