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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. 3.

Fig. 3

State-flow diagram. The estimator–planar controller pair operates at 1mm intervals; the estimator estimates the needle tip orientation from the tip position measurements and the planar controller maintains the needle tip near the desired plane. The planner operates at 1 cm intervals and decides the bevel direction. If the planner commands a direction change, then the torsion compensator ensures that the entire needle is rotated by 180°. k is a counter that corresponds to insertion distance.