The article compares two resolved-rate controllers derived from a mechanics-based and a data-driven approach for bevel-tip needle control in prostate biopsy procedures. It demonstrates that the mechanics-based controller can better reach desired targets when only the final goal configuration is presented, even with uncertainty on model parameters estimation. The article emphasizes the importance of providing a feasible needle path to ensure safe surgical outcomes when either controller is used for needle shape manipulation.
Publication date: 5 Feb 2024
Project Page: https://arxiv.org/abs/2402.03125v1
Paper: https://arxiv.org/pdf/2402.03125
