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.

Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compensate for needle tip prediction inaccuracies, however none were compared against each other, and it is unclear whether any of them can be safely and universally applied in clinical settings. This paper compares the performance of two resolved-rate controllers, derived from a mechanics-based and a data-driven approach, for bevel-tip needle control using needle shape manipulation through a template. We demonstrate for a simulated 12-core biopsy procedure under model parameter uncertainty that the mechanics-based controller can better reach desired targets when only the final goal configuration is presented even with uncertainty on model parameters estimation, and that providing a feasible needle path is crucial in ensuring safe surgical outcomes when either controller is used for needle shape manipulation.

Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy of needle placement, which remains a challenge even with robot assistance and medical imaging guidance due to needle deflection caused by contact with soft tissues. In this paper, we present a novel mechanics-based 2D bevel-tip needle model that can account for the effect of nonlinear strain-dependent behavior of biological soft tissues under compression. Real-time finite element simulation allows multiple control inputs along the length of the needle with full three-degree-of-freedom (DOF) planar needle motions. Cross-validation studies using custom-designed multi-layer tissue phantoms as well as heterogeneous chicken breast tissues result in less than 1mm in-plane errors for insertions reaching depths of up to 61 mm, demonstrating the validity and generalizability of the proposed method.