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29
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ISER
2004
Springer
182
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Robotics
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ISER 2004
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Nonholonomic Modeling of Needle Steering
14 years 3 months ago
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research.vuse.vanderbilt.edu
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, contro...
Robert J. Webster III, Noah J. Cowan, Gregory S. C...
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