# Path planning for flexible needle insertion system based on Improved Rapidly-Exploring Random Tree algorithm

> Research article (2015 IEEE International Conference on Information and Automation, 2015) · cited 12× · AI/ML

**Wikidata**: [openalex:W1660309994](https://www.wikidata.org/wiki/openalex:W1660309994)  
**Source**: https://4ort.xyz/entity/path-planning-for-flexible-needle-insertion-system-based-on-improved-rapidly-exploring-random-tree-algorithm