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. Author manuscript; available in PMC: 2012 Nov 8.
Published in final edited form as: IEEE Robot Autom Mag. 2011 Dec 8;18(4):35–46. doi: 10.1109/MRA.2011.942997

Fig. 7.

Fig. 7

Our portable needle steering device is designed to fit under a fluoroscope while allowing control of the needle’s insertion and rotation. When using conventional fluoroscopy, only one image plane is available, so the planar controller is unable to determine the height of the needle. Our experimental validation used a similar device that uses two cameras to triangulate the needle tip inside a transparent artificial tissue. Clinical procedures will use bi-plane fluoroscopy or 3D ultrasound to directly measure the needle tip position inside the tissue.