Flowchart of multiple-needle insertion trajectory planning (the obstacles in the first needle insertion trajectory planning environment are the ribs and blood vessels in the abdominal cavity.
figure
posted on 2016-03-16, 12:50 authored by Shaoli Liu, Zeyang Xia, Jianhua Liu, Jing Xu, He Ren, Tong Lu, Xiangdong YangThe obstacles in the subsequent needle-insertion-trajectory planning environment include the previously inserted needles as new obstacles).
