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. Author manuscript; available in PMC: 2017 Aug 7.
Published in final edited form as: IEEE Trans Biomed Eng. 2014 Jul 1;61(12):2899–2910. doi: 10.1109/TBME.2014.2334309

Fig. 5.

Fig. 5

Steering planner: (a) The needle tip frame is located at the distal end of the needle. The frame is oriented with the ztip-axis tangent to the needle, and the ytip -axis pointing toward the center of curvature. The needle follows a circular path of radius ρ. (b) The steering planner determines the incremental rotation δθ and the path radius ρ that will cause the needle tip p to reach the target point t.