Figure 1
From: Steerable needles for radio-frequency ablation in cirrhotic livers
Modular designs of v1 planar (A) and v2 omnidirectional (B) steerable needles, with hydrophilic sheaths and nitinol stylets and cannulas. Compliant joints enable tip articulations of approximately 11°. Assembly steps are shown with blue arrows, and degrees of freedom in actuation with red arrows.
