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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-06-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814019852185 |