3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control
Manual insertion of flexible bevel-tip needles often leads to unpredictable tissue deformation and compromised targeting accuracy, emphasizing the need for robust trajectory planning. To address this challenge, we formulate the insertion problem as a time-energy optimal control problem (OCP) subject...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/11037735/ |
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