With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …

Current surgical devices are mostly rigid and are made of stiff materials, even though their
predominant use is on soft and wet tissues. With the emergence of compliant mechanisms …

Creating wireless milliscale robots that navigate inside soft tissues of the human body for
medical applications has been a challenge because of the limited onboard propulsion and …

Minimally invasive neurosurgery does not require large incisions and openings in the skull
to access the desired brain region, which often results in a faster recovery with fewer …

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 …

Steerable needles have the potential to improve the effectiveness of needle-based clinical
procedures such as biopsy and drug delivery by improving targeting accuracy and reaching …

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

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) …

Steerable needles can potentially increase the accuracy of needle-based diagnosis and
therapy delivery, provided they can be adequately controlled based on medical image …