… a finding that forms the basis of the planar motion control strategy that is presented in this
paper. Since only planar trajectories are considered, the four-part probe in Fig. 2 is modeled in …

… of an optimal closed-loop control strategy to drive the probe tip along a predefined curvilinear
trajectory. Off-plane errors and other unpredictable behaviours (ie probe twisting) should …

… To obtain the tip position, an electro-magnetic (EM) sensor is … Comparing the CCS needle
with the programmable bevel … for an individual motors motion control, and an image process…

… 2, the xz plane marked with the transparent red color is defined as the InPlane, and the xy
plane … to the steering offset δ is adapted from our planar kinematics findings [10]. Therefore, the …

… manufacturer of a single EM Aurora sensor © (NDI Medical) is … how cyclic motion control,
which is also biologically inspired, … Closed-loop 3D motion modeling and control of a steerable …

… for duty-cycling steerable needles able to plan and control the needle motion in a closed loop
fashion … The kinematics of the probe is still under investigation but a PBN control strategy is …

… or is not safe, a steerable needle can be utilized to reach a … In the area of closed loop
control of flexible needles, to our … into the control of a bio-inspired flexible probe. Based on the …

… of closed-loop control steering a biologically inspired multisegment needle with a programmable
bevel … (Kmax) achievable by the probe for a predefined plane of steering with a fixed tip …

… cyclic, low-level controller for a Programmable Bevel-tip Needle (PBN) presented in this …
Closed-loop planar motion control of a steerable probe with a \programmable bevel"; inspired …

… Programmable Bevel-tip Needle (PBN), which is inspired by … These procedures can be aided
by steerable devices, as … with laser reflective seeded phantom gels for planar steering [10], […