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Needle tracking and path planning: The ultrasound (US) transducer is robotically positioned on the same plane as the needle tip. The tip pose is estimated using the information from the US image, the needle insertion device, and the transducer positioning device. The needle pose is used by the motion planner at each re-planning step to generate many feasible paths to the target. The planner selects the best path such that the needle path length is minimized while avoiding obstacles.
