IEEE Transactions on Biomedical Engineering

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Magnetic Control of a Flexible Needle in Neurosurgery
This paper presents a flexible needle steering system with magnetic control and fluoroscopic guidance for neurosurgical procedures. A permanent magnet at the proximal end of a flexible needle is steered by an external magnetic field, and the resultant tip-deflection angle bends the flexible body. The linear motion at the distal end of the needle actuates the needle insertion in soft tissues. The proposed needle steering system was tested using an in vitro brain phantom and ex vivo pig brain; the flexible needle was successfully maneuvered to follow the predefined straight and curved trajectories... Read more