From the Wasp Ovipositor to a 3D Steerable Needle for Solid-Tissue Interventions: A Design and Experimental Approach

In many percutaneous interventions, such as biopsies and brachytherapy, accuracy in reaching a specific target inside the human body is necessary for the success of the procedure. Maneuvering to the target site is challenging, particularly if sensitive structures such as blood vessels have to be avoided. For maneuvering along a curved trajectory,...