Abstract: Surgical needles are commonly used to reach target locations inside of the body for percutaneous procedures. The major issues in needle steering in tissues are the insertion force which causes tissue damage and tissue ...

Abstract: Flexible needles with enhanced steerability are desired in minimally invasive surgeries to reach target locations precisely and to bypass critical organs lying in the planned path. We have proposed a flexurebased active ...

Abstract: Needle insertion is used in many diagnostic and therapeutic percutaneous medical procedures such as brachytherapy, thermal ablations, and breast biopsy. Insufficient accuracy using conventional surgical cannulas motivated ...