Raw data underlying the publication: Axially rigid steerable needle with compliant active tip control.
Steering performance of a new developed steerable needle prototype is assessed in US-guided experiments with tissue simulants and ex-vivo bovine tissue. In Experiment 1 the influence of the initial insertion depth on needle steering and the endpoint precision are assessed inside a homogeneous medium (N=33). US images are recorded at 20 Hz and the set of images is segmented using constant intensity thresholding to create a point cloud containing the silhouette of the instrument. The last point on the reconstructed 3D needle shape determines the achieved lateral needle steering. In Experiment 2 steering and real-time needle guidance via US imaging evaluates endpoint accuracy of the needle in inhomogeneous tissue simulants. In Experiment 3 needle steering towards targets is executed in ex-vivo bovine tissue with real-time US needle tracking. This experiment evaluates adaptive needle path control during insertions and final endpoint accuracy.
The data includes data of the silhouette of the instrument (csv) and videos of the needle insertion (avi) for experiment 1 and 3, photos of the endpoints of the inserted needle (jpg) for experiment 2, and data analysis for the X, Y, and Z-coordinates (xlsx).
ER -