# 3-D Path Planning Using Improved RRT* Algorithm for Robot-Assisted Flexible Needle Insertion in Multilayer Tissues

> Research article (Canadian Journal of Electrical and Computer Engineering, 2021) · cited 33× · AI/ML

**Wikidata**: [openalex:W4206322160](https://www.wikidata.org/wiki/openalex:W4206322160)  
**Source**: https://4ort.xyz/entity/3-d-path-planning-using-improved-rrt-algorithm-for-robot-assisted-flexible-needle-insertion-in-multilayer-tissues