Bilinear Model Predictive Control Framework of the OncoReach, a Tendon-Driven Steerable Stylet for Brachytherapy

Pejman Kheradmand, Behnam Moradkhani, Mir Masoud Ale Ali +3

Steerable needles have the potential to improve interstitial brachytherapy by enabling curved trajectories that avoid sensitive anatomical structures. However, existing modeling an…