Kinematic model and its parameter identification for cannula flexible needle insertion into soft tissue

In minimally invasive surgery, flexible needle insertion is a popular application which has been extensively researched. However, needle steering is challenging for a bevel tip cannula flexible needle due to the nonholonomic constraints and the rebounds of the needle shaft when the needle tip is reo...

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Bibliographic Details
Main Authors: Yan-Jiang Zhao, Ze-Hua Liu, Yong-De Zhang, Zhi-Qing Liu
Format: Article
Language:English
Published: SAGE Publishing 2019-06-01
Series:Advances in Mechanical Engineering
Online Access:https://doi.org/10.1177/1687814019852185