# A new path planning method for bevel-tip flexible needle insertion in 3D space with multiple targets and obstacles

> Research article (Control Theory and Technology, 2022) · cited 19× · AI/ML

**Wikidata**: [openalex:W4306403197](https://www.wikidata.org/wiki/openalex:W4306403197)  
**Source**: https://4ort.xyz/entity/a-new-path-planning-method-for-bevel-tip-flexible-needle-insertion-in-3d-space-with-multiple-targets-and-obstacles