Abstract:This paper presents a novel dynamic path planning methodology for needle steering into the soft tissue. A real-time finite element model is used to simulate the procedure of a flexible needle into the homogeneous soft tissue, which provides the dynamic deformation information for the path planning. The relationship between needle base and tip is formulated as the transformations of homogeneous matrix with quasi-static assumptions. Based on the reachability of the flexible needle, the real-time motions of obsta… Show more
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