Minimally Invasive Flexible Needle Manipulation Based on Finite Element Simulation and Cross Entropy Method

Since the needle will be discretized into discrete elements, the Percutaneous needle interventions capture a broad class of complete state of the needle, and the simulation environment minimally invasive diagnosis and treatment procedures, such in general, could involve hundreds of variables, and planning as biopsy [1]-[3], brachytherapy [4], [5], and spinal injection for a minimally invasive insertion and closed-loop control of [6]-[8]. Depending on the clinical procedure, a range the flexible needle becomes a challenging problem. of needles with different gauges, stiffness levels, and tip geometries is available. These inherent needle characteristics Previous works in this domain focus primarily on resolvedrate play a crucial role in determining how the needle moves control, which relies on inverting a numerical inputoutput through soft biological tissues; additionally, surgeons also Jacobian matrix obtained either via Broyden's update employ various techniques, such as rotating or bending the law or simulating small input disturbances [10], [13], [15]- needle, to adjust the position of the needle tip in situ during [18]. Yet obtaining such invertible mapping can be challenging, insertion.