Data underlying the publication: Axially rigid steerable needle with compliant active tip control

Raw data underlying the publication: Axially rigid steerable needle with compliant active tip control.<br>Steering performance of a new developed steerable needle prototype is assessed in US-guided experiments with tissue simulants and <em style="color:rgb(32, 32, 32);">ex-vivo</em> bovine tissue. In Experiment 1 the influence of the initial insertion depth on needle steering and the endpoint precision are assessed inside a homogeneous medium (N=33). US images are recorded at 20 Hz and the set of images is segmented using constant intensity thresholding to create a point cloud containing the silhouette of the instrument. The last point on the reconstructed 3D needle shape determines the achieved lateral needle steering. In Experiment 2 steering and real-time needle guidance via US imaging evaluates endpoint accuracy of the needle in inhomogeneous tissue simulants. In Experiment 3 needle steering towards targets is executed in <em style="color:rgb(32, 32, 32);">ex-vivo</em> bovine tissue with real-time US needle tracking. This experiment evaluates adaptive needle path control during insertions and final endpoint accuracy.<br>The data includes data of the silhouette of the instrument (csv) and videos of the needle insertion (avi) for experiment 1 and 3, photos of the endpoints of the inserted needle (jpg) for experiment 2, and data analysis for the X, Y, and Z-coordinates (xlsx).