The tip asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. This enables robotic needle steering, which can be used in me...
Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, ...
— The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. In this study we present a mechanics-based model that calculat...
Sarthak Misra, Kyle B. Reed, Benjamin W. Schafer, ...
— We explore motion planning for a new class of highly flexible bevel-tip medical needles that can be steered to previously unreachable targets in soft tissue. Planning for thes...
Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Ok...
Flexible needle insertion into viscoelastic tissue is modeled in this paper with a linear beam supported by virtual springs. Using this simplified model, the forward and inverse ki...