Steerable Needle

Steerable needles are minimally invasive devices designed to reach difficult-to-access targets within the body by navigating along curved paths. Current research focuses on improving path planning algorithms, often employing machine learning techniques like Generative Adversarial Imitation Learning (GAIL) to account for tissue deformation and improve accuracy, as well as developing robust pose estimation methods using image feedback to track needle position and orientation. These advancements aim to enhance the safety and efficacy of various medical procedures, including biopsies and drug delivery, by enabling more precise and autonomous needle control.