Fine needle insertion method for minimising deflection in lower abdomen: In vivo evaluation.
Ryosuke TsumuraIulian IordachitaHiroyasu IwataPublished in: The international journal of medical robotics + computer assisted surgery : MRCAS (2020)
The proposed method can decrease fine needle deflections in the lower abdomen, which has the potential for accurate and safety procedures without real-time CT imaging.