A bilinear MPC framework for a tendon-driven steerable stylet achieves tip positioning errors as low as 1.45 mm in phantom experiments, demonstrating feasibility for fixed and moving target tracking in brachytherapy.
Axially rigid steerable needle with compliant active tip c ontrol
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Bilinear Model Predictive Control Framework of the OncoReach, a Tendon-Driven Steerable Stylet for Brachytherapy
A bilinear MPC framework for a tendon-driven steerable stylet achieves tip positioning errors as low as 1.45 mm in phantom experiments, demonstrating feasibility for fixed and moving target tracking in brachytherapy.