# Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

> Research article (Annals of Biomedical Engineering, 2018) · cited 31× · AI/ML

**Wikidata**: [openalex:W2809616585](https://www.wikidata.org/wiki/openalex:W2809616585)  
**Source**: https://4ort.xyz/entity/closed-loop-active-compensation-for-needle-deflection-and-target-shift-during-cooperatively-controlled-robotic-needle-in