On the controllability of dynamic model-based needle insertion in soft tissue

Soft tissue needle guidance and steering for clinical applications has been an active topic of research in the past decade. Although dynamic feedback control of needle insertion systems is expected to provide more accurate target tracking, it has received little attention due to the fact that most available models for needle-tissue interaction do not incorporate the dynamics of motions. In this paper, we study the controllability of rigid or flexible needles inside soft tissues using mechanical-based dynamic models. The results have significant implications on the design of suitable feedback controllers for different types of needle insertion systems.