Interactive motion planning for steerable needles in 3D environments with obstacles

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@article{Patil2010InteractiveMP, title={Interactive motion planning for steerable needles in 3D environments with obstacles}, author={Sachin Patil and Ron Alterovitz}, journal={2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics}, year={2010}, pages={893-899} }