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. Author manuscript; available in PMC: 2010 Jul 17.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19;2008:819–824. doi: 10.1109/BIOROB.2008.4762833

Fig. 1.

Fig. 1

An example path of a flexible steerable needle with one 180° base rotation. Here the needle avoids the obstacles and reaches the target.