From a functional standpoint, classic robots are not at all similar to biological systems. If
compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …

Alignment errors can arise during needle tip placement in deep-seated tissue structures.
This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means …

In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

Continuum manipulators, inspired by nature, have drawn significant interest within the
robotics community. They can facilitate motion within complex environments where …

Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …

The use of needles to access sites within organs is fundamental to many interventional
medical procedures both for diagnosis and treatment. Safely and accurately navigating a …

BACKGROUND Image-guided percutaneous biopsy is a common procedure in oncology,
integral to confirming the diagnosis of cancer, staging the disease, and determining tumor …

Robotic needle steering systems have the potential to greatly improve medical interventions,
but they require new methods for medical image guidance. Three-dimensional (3-D) …

This work presents a new steerable needle to facilitate active steering toward predefined
target locations. It focuses on mechanical aspects and design choices in relation to the …

Over the past 10 years, minimally invasive surgery (MIS) has shown significant benefits
compared to conventional surgical techniques, with reduced trauma, shorter hospital stays …