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Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths

Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. Kris Hauser, Ron Alterovitz , Nuttapon Chentanez , Allison Okamura, Ken Goldberg. Yajia Zhang. Background. Needles are used in medicine for a wide range of diagnostic and therapy delivery procedures.

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Different twist rate - PowerPoint PPT Presentation

Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths