# A Two-Body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue

> Research article (IEEE/ASME Transactions on Mechatronics, 2016) · cited 73× · AI/ML

**Wikidata**: [openalex:W2316658738](https://www.wikidata.org/wiki/openalex:W2316658738)  
**Source**: https://4ort.xyz/entity/a-two-body-rigid-flexible-model-of-needle-steering-dynamics-in-soft-tissue