# A survey on puncture models and path planning algorithms of bevel-tipped flexible needles

> Research article (Heliyon, 2024) · cited 18× · AI/ML

**Wikidata**: [openalex:W4391133901](https://www.wikidata.org/wiki/openalex:W4391133901)  
**Source**: https://4ort.xyz/entity/a-survey-on-puncture-models-and-path-planning-algorithms-of-bevel-tipped-flexible-needles