Motivated by the challenges of needle insertion in medical procedures, this project aims to develop a model predictive control method based on a bevel-tip needle model to achieve accurate path tracking.
The added functionalities by us are:
- Needle dynamics and simplification
- Proof of stability
- numerical simulations
For more details, please refer to our report.
numpy, matplotlib, CVXPY
git clone git@github.com:Rzy369/MPC.git
cd time_varying
python main.py