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Computer-Aided Design and Applications (ISSN 1686-4360) is an independent, international peer-reviewed technical journal dedicated to the applications of computer-aided design and manufacturing.
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Volume 5 Numbers 1-4 Pages 39-46
Compliant Needle Modeling and Steerable Insertion Simulation
Abstract. Needle 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.
Keywords: compliant needle, needle insertion, haptic simulation.
DOI: 10.3722/cadaps.2008.39-46
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