# Backward Planning for a Multi-Stage Steerable Needle Lung Robot

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 31× · AI/ML

**Wikidata**: [openalex:W3137532763](https://www.wikidata.org/wiki/openalex:W3137532763)  
**Source**: https://4ort.xyz/entity/backward-planning-for-a-multi-stage-steerable-needle-lung-robot