3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control

Manual insertion of flexible bevel-tip needles often leads to unpredictable tissue deformation and compromised targeting accuracy, emphasizing the need for robust trajectory planning. To address this challenge, we formulate the insertion problem as a time-energy optimal control problem (OCP) subject...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Lijuan Pan, Zhenhui Zhang, Zhuyan Yin, Bai Li
Format:	Article
Language:	English
Published:	IEEE 2025-01-01
Subjects:	Bevel-tip needle insertion collision avoidance computational optimal control interior point method nonlinear program trajectory planning
Online Access:	https://ieeexplore.ieee.org/document/11037735/