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Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI Prediction

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Academic year: 2021

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Figure 1.  Two successive steps of the mechanical-based needle model  are visualized. ds represents the needle displacement due to insertion  speed
Figure 2.  Schematic of the needle steering control.
Figure 5.  Needle steering experimental setup. The 3D probe stay fixed  during insertion and the robot is designed for brachytherapy purpose.
Figure 6 shows tracking results of a double-bend path and  the profile of the insertion speed

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