In the field of minimally invasive interventional therapy, the related research on the soft
tissue puncture robot and its technology based on the flexible steerable needle as a …

This chapter describes how advances in needle design, modeling, planning, and image
guidance make it possible to steer flexible needles from outside the body to reach specified …

In this paper we develop a new framework for path planning of flexible needles with bevel
tips. Based on a stochastic model of needle steering, the probability density function for the …

This paper presents a technique for planning and controlling bevel-tip steerable needles
towards a target location in 3-D anatomy under the guidance of partial, noisy sensor …

Background and objective Percutaneous puncture with flexible needle has important value
in clinical application for its low trauma and flexible path. However, it is difficult to guarantee …

In image-guided percutaneous interventions, a precise planning of the needle path is a key
factor to a successful intervention. In this paper we propose a novel method for computing a …

A mechanics-based model of flexible needle insertion into soft tissue is presented in this
paper. Different from the existing kinematic model, a new model has been established …

Flexible needles with bevel tips are being developed as useful tools for minimally invasive
surgery and percutaneous therapy. When such a needle is inserted into soft tissue, it bends …

The Black-Scholes partial differential equation (PDE) from mathematical finance has been
analysed extensively and it is well known that the equation can be reduced to a heat …

In this paper, we improve the path-of-probability (POP) algorithm to generate better and
smoother paths for robotic systems. The POP algorithm generates a full path with the …