Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion
Yuyang Chen,Haozhe Yang,Xu Liu,Kai Xu,Yuyang Chen,Haozhe Yang,Xu Liu,Kai Xu
Needle-based procedures, such as biopsy and percutaneous tumor ablation, highly depend on the accuracy of needle placement. The accuracy is significantly affected by the needle-tissue interaction no matter what needles (straight or steerable) are used. Due to the unknown tissue mechanics, it is challenging to achieve high accuracy in practice. This paper hence proposes a needle design with an arti...
