Kinematic model and its parameter identification for cannula flexible needle insertion into soft tissue

by Yan-Jiang Zhao, Ze-Hua Liu, Yong-De Zhang, Zhi-Qing Liu
Published 2019-06-01

Path optimization algorithm and its robustness for bevel tip flexible needle

by Yong-De Zhang, Kai-Ming Shi, Yan-Jiang Zhao, Ji-Chao Yang, Jia Liu
Published 2018-10-01

3D Dynamic Motion Planning for Robot-Assisted Cannula Flexible Needle Insertion into Soft Tissue

by Yan-Jiang Zhao, Wen-Qiang Wu, Yong-De Zhang, Rui-Xue Wang, Jing-Chun Peng, Yan Yu
Published 2016-06-01