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Bevel-tip steerable needles are a promising new technology for improving accuracy and accessibility in minimally invasive medical procedures. As yet, 3D needle steering has not been demonstrated in the presence of tissue deformation and uncertainty, despite the application of progressively more sophisticated planning algorithms. This paper presents a feedback controller that steers a needle along 3D helical paths, and varies the helix radius to correct for perturbations. It achieves highdoi:10.7551/mitpress/8727.003.0038 fatcat:mxmhupuahnbalg4o57m527vcvu