Human–Machine Collaboration Modalities for Semi-Automated Needle Insertion Into Soft Tissue

Needle insertion is a minimally invasive medical procedure commonly used for biopsy, ablation, or deposition of therapeutic agents. In prostate brachytherapy, needles are inserted into the prostate in order to deposit multiple rice-grain-sized radioactive seeds to eradicate cancerous tissue from close proximity. During insertion, the needles should remain on a straight path, such that the seeds ar...