… needles to avoid obstacles along the path to the target. This work considers teleoperation
of needles … The needle may be modeled as a nonholonomic system, with inputs of insertion …

… We propose a new teleoperation approach for nonholonomic systems (steerable needles in
… the effectiveness of Cartesian space teleoperation in comparison to traditional joint space …

… considered to be a valuable navigation tool during teleoperated surgical procedures [9], [10]…
study we present an innovative teleoperation system for steering flexible needles. It enables …

… , applied to various simulated teleoperation algorithms for robotic needle steering. … for
teleoperation of steerable needles, using a haptic device. Four different teleoperation algorithms …

… The tip-forces measured by the FBGs tendons are used as a reference for electrical haptic
feedback to improve teleoperation of the steerable needle. The NiTi tube with tendons …

… steerable needle device for percutaneous interventions that allows the physician to steer the
tip of the needle … off-the-shelf medical biopsy needles. A controlled lateral steering motion of …

… By integrating the teleoperated robotics with advanced MR … steerable needle intervention,
in the aspects of safety, accuracy, and ergonomics. The clinical version with manual needle …

… by unwanted needle deflections, needle access restrictions and … of teleoperated robotic
control of an active steerable needle … The system comprises of (1) a novel steerable needle, (2) …

… teleoperation system capable of steering flexible needles … intuitive control of the needle
motion while providing the user … Prattichizzo, “Teleoperation of steerable flexible needles by …

… Finally, a discussion of the advantages and limitations of the existing techniques that
hindered the clinical acceptance of the steerable needles, along with suggestions to get these …