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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;2008:936–941. doi: 10.1109/BIOROB.2008.4762825

Fig. 4.

Fig. 4

Finite element simulation of my algorithm to put the needle in a reasonable state. The needle base was initially rotated so the tip would be at 45°. The next three rotations position the needle with minimal amount of torque along the length of the needle with no torque measured at the base.