English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Flexible needle insertion into viscoelastic tissue is modeled in this paper with a linear beam supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the in- verse kinematics, the required needle basis trajectory can be computed for any desired needle tip path. It is shown that the needle base trajectory is not unique and can be optimized to minimize lateral pressure of the needle body on the tis- sue. Experimental results are provided of robotically assisted insertion of flexi- ble needle while avoiding "obstacle".

Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapies