Toward FBG-Sensorized Needle Shape Prediction in Tissue Insertions
Dimitri A. Lezcano,Min Jung Kim,Iulian I. Iordachita,Jin Seob Kim,Dimitri A. Lezcano,Min Jung Kim,Iulian I. Iordachita,Jin Seob Kim
Complex needle shape prediction remains an issue for planning of surgical interventions of flexible needles. In this paper, we validate a theoretical method for flexible needle shape prediction allowing for non-uniform curvatures, extending upon a previous sensor-based model which combines curvature measurements from fiber Bragg grating (FBG) sensors and the mechanics of an inextensible elastic ro...
