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.
Feedback control for steering needles through 3D deformab le tissue using helical paths,
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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.