Optimal path planning for inserting a steerable needle into tissue

@article{Wang2011OptimalPP,
  title={Optimal path planning for inserting a steerable needle into tissue},
  author={Jianjun Wang and Dong Sun and Jinjin Zheng and Wen Shang},
  journal={2011 IEEE International Conference on Information and Automation},
  year={2011},
  pages={39-44}
}
Bevel-tip steerable needles are widely used in modern minimally invasive percutaneous procedures to reach specific positions inside the body. In this paper, we design a shortest path with the least control effort for such a steerable needle, giving the start and the goal positions with or without obstacles. We assume that the environment is static and the motion of the needle is counted based on the state of the needle tip. Due to flexibility of the needle, the moving path is a curve instead of… CONTINUE READING