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. Author manuscript; available in PMC: 2012 Jan 29.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010:893–899. doi: 10.1109/BIOROB.2010.5625965

Fig. 3.

Fig. 3

The reachable set for the steerable needle in the local coordinate frame of the needle-tip ψn is constrained to be inside the volume of the region defined locally by Eq. 4 (shown by the colored mesh). Point p = (px, py, pz) can be reached by the needle tip.