Proportional control of curvature of a flexible bevel-tipped needle can be accomplished by rotating the needle shaft with a duty cycle. Using this technique, an algorithm for image-guided path-following control in two dimensions, based on an autonomous vehicle controller, has been previously demonstrated. This paper describes a computationally simple algorithm that extends the path-following control to three dimensions. Results from simulation are presented.
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Wood et al. (2013) studied this question.
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