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Needle insertion procedures are commonly used for surgical interventions. In this paper, we develop a threedimensional (3D) closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a target in a soft-tissue phantom. Twelve Fiber Bragg Grating (FBG) sensors are embedded on the needle shaft. FBG sensors measure the strain applied on the needle during insertion. A method is developed to reconstruct the needle shape using the strain data obtained from thedoi:10.1109/icra.2013.6631418 dblp:conf/icra/AbayazidKM13 fatcat:frrdqoiq3zdpznspfiushcw7ty