# An Improved RRT* Algorithm Combining Motion Constraint and Artificial Potential Field for Robot-Assisted Flexible Needle Insertion in 3D Environment

> Research article (2021 3rd International Conference on Industrial Artificial Intelligence (IAI), 2021) · cited 10× · AI/ML

**Wikidata**: [openalex:W3217142009](https://www.wikidata.org/wiki/openalex:W3217142009)  
**Source**: https://4ort.xyz/entity/an-improved-rrt-algorithm-combining-motion-constraint-and-artificial-potential-field-for-robot-assisted-flexible-needle-