3-D Path-Following Control for Steerable Needles With Fiber Bragg Gratings in Multi-Core Fibers.
Journal:
IEEE transactions on bio-medical engineering
Published Date:
Feb 17, 2023
Abstract
UNLABELLED: Steerable needles have the potential for accurate needle tip placement even when the optimal path to a target tissue is curvilinear, thanks to their ability to steer, which is an essential function to avoid piercing through vital anatomical features. Autonomous path-following controllers for steerable needles have already been studied, however they remain challenging, especially because of the complexities associated to needle localization. In this context, the advent of fiber Bragg Grating (FBG)-inscribed multicore fibers (MCFs) holds promise to overcome these difficulties.