Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of
  Steerable Needles   Steerable needles are capable of accurately targeting difficult-to-reach
clinical sites in the body. By bending around sensitive anatomical structures,
steerable needles have the potential to reduce the invasiveness of many medical
procedures. However, inserting these needles with curved trajectories increases
the risk of tissue shearing due to large forces being exerted on the
surrounding tissue by the needle's shaft. Such shearing can cause significant
damage to surrounding tissue, potentially worsening patient outcomes. In this
work, we derive a tissue and needle force model based on a Cosserat string
formulation, which describes the normal forces and frictional forces along the
shaft as a function of the planned needle path, friction parameters, and tip
piercing force. We then incorporate this force model as a cost function in an
asymptotically near-optimal motion planner and demonstrate the ability to plan
motions that consider the tissue normal forces from the needle shaft during
planning in a simulated steering environment and a simulated lung tumor biopsy
scenario. By planning motions for the needle that aim to minimize the tissue
normal force explicitly, our method plans needle paths that reduce the risk of
tissue shearing while still reaching desired targets in the body.

12
The categories of this paper are: nucl-th
15
The categories of this paper are: nucl-ex
7
The categories of this paper are: hep-th
4
The categories of this paper are: cond-mat
31
The categories of this paper are: ao-sci
35
The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
16
The categories of this paper are: stat
11
The categories of this paper are: hep-lat
8
The categories of this paper are: hep-ex
27
The categories of this paper are: comp-gas
29
The categories of this paper are: funct-an
33
The categories of this paper are: plasm-ph
21
The categories of this paper are: adap-org