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Real time three dimensional tracking and steering of flexible needles using two dimensional ultrasound images

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Academic year: 2020

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Figure

Figure 2: Illustration of needle steering. The needle is steered under ultrasound image-guidanceusing a needle insertion device
Fig. 1.A flexible needle with a bevel tip is inserted in the soft-is placed perpendicular to the needle insertion direction
Fig. 2.A flexible bevel-tipped needle is inserted in the soft-tissuesimulant. During insertion the needle deflects along a curved trajectory inthe direction of the bevel-tip
Fig. 3.Positioning devices: (a) Robotic arm, (b) Delta robot and (c)Cartesian robot
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