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Controlling a Robotically Steered Needle in the Presence of Torsional Friction
A flexible needle can be accurately steered by robotically controlling the orientation of the bevel tip as the needle is inserted into tissue. Here, we demonstrate the significant effect of friction between the long, flexible needle shaft and the tissue, which can cause a significant discrepancy bet...
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| Main Authors: | , , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
2009
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC3040793/ https://ncbi.nlm.nih.gov/pubmed/21461175 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/ROBOT.2009.5152749 |
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