3 accepted papers
In percutaneous needle insertions, cutting forces at the needle tip deflect the needle and increases targeting error. Thus, modeling needle-tissue interaction in biological tissue is essential for accurate robotics-assisted needle steering. In this letter, dynamics of needle tip interaction with inh
This letter represents a sliding-based controller for steering beveled-tip needles to stationary locations in soft tissue in a 2-D environment by performing appropriate switches of bevel orientation by 180° axial rotations while the needle is being inserted. Assuming the rotation velocity to be larg
In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle-based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model…