Compliant needle modeling and steerable insertion simulation

AbstractNeedle based surgery is an important surgical technique for its minimally invasive interventions. The insertion of a long and slender needle into the complicated human body is a very challenging procedure. In this paper, a compliant needle is designed to facilitate the obstacle avoidance and path control that are inevitable in some surgical operations. During needle insertion, a magnetic force is employed to steer the compliant needle when needed. The steerable needle insertion process is simulated in a haptic system which can provide users both visual and haptic feedback.

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