Needle insertion is a critical aspect of many medical treatments, diagnostic methods, and scientific studies, and is considered to be one of the simplest and most minimally invasive medical procedures. Robot-assisted needle steering has the potential to improve the effectiveness of existing medical procedures and enable new ones by allowing increased accuracy through more dexterous control of the needle-tip path and acquisition of targets not accessible by straight-line trajectories. In this article, we describe a robot-assisted needle-steering system that uses three integrated controllers: a motion planner concerned with guiding the needle around obstacles to a target in a desired plane, a planar controller that maintains the needle in the desired plane, and a torsion compensator that controls the needle-tip orientation about the axis of the needle shaft.

中文翻译：

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机器人辅助针转向

进针是许多医学治疗、诊断方法和科学研究的一个重要方面，被认为是最简单和微创的医疗程序之一。机器人辅助针头转向有可能提高现有医疗程序的有效性，并通过更灵巧地控制针尖路径和获取直线轨迹无法到达的目标来提高准确性，从而实现新的医疗程序。在这篇文章中，我们描述了一个机器人辅助的针头转向系统，它使用三个集成控制器：一个运动规划器，用于将针头绕过障碍物引导到所需平面中的目标，一个平面控制器，将针头保持在所需平面中，