Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles


Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgical scenarios, a real-time path planning algorithm with high… (More)
DOI: 10.1109/LRA.2016.2528292