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Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue
2012
IEEE Transactions on Biomedical Engineering
Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering though experiments in ex vivo and in vivo tissue. We evaluate the repeatability of needle insertion in inhomogeneous biological tissue and compare ex vivo and in vivo
doi:10.1109/tbme.2012.2204749
pmid:22711767
pmcid:PMC3448818
fatcat:c5yxcf6v2fdizenelgh6ep66wa