Optimal Pose Estimation Method for a Multi-Segment, Programmable Bevel-Tip Steerable Needle
Alberto Favaro,Riccardo Secoli,Ferdinando Rodriguez y Baena,Elena De Momi,Alberto Favaro,Riccardo Secoli,Ferdinando Rodriguez y Baena,Elena De Momi
Needle pose tracking is fundamental to achieve a precise and safe insertion in minimally-invasive percutaneous interventions. In this work, a method for estimating the full pose of steerable needles is presented, considering a four-segment Programmable Bevel-Tip Needle (PBN) as a case study. The method estimates also the torsion of the needle that can arise during the insertion because of the inte...
