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.
Towards a tendon-assisted magnetically stee red (tams) robotic stylet for brachytherapy,
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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.