Fig. 10.

Brachytherapy was performed in ex vivo liver as an example of a needle steering application. The steered needle was used to deploy a sheath that was then used to introduce artificial brachytherapy seeds. In these images, two “seeds” were already placed, and a third is added. This third insertion demonstrated how pre-bent needles can be used for straight line paths as well as curved paths by incrementally inserting and flipping the bend orientation angle.