{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T03:00:10Z","timestamp":1760151610836,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2022,4,13]],"date-time":"2022-04-13T00:00:00Z","timestamp":1649808000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100005508","name":"Boettcher Foundation","doi-asserted-by":"publisher","award":["CSM PROP 17-0522"],"award-info":[{"award-number":["CSM PROP 17-0522"]}],"id":[{"id":"10.13039\/100005508","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Straight-line needle insertion is a prevalent tool in surgical interventions in the brain, such as Deep Brain Stimulation and Convection-Enhanced Delivery, that treat a range of conditions from Alzheimer\u2019s disease to brain cancer. Using a steerable needle to execute curved trajectories and correct positional deviation could enable more intervention possibilities, while reducing the risk of complication in these procedures. This paper experimentally identifies model parameters using an expectation-maximization (EM) algorithm for two different steerable needle models. The results compared a physically motivated model to the established bicycle needle model and found the former to be preferred for modeling soft brain tissue needle insertion. The results also supported the experimentally parameterized models\u2019 use in future applications such as needle steering control.<\/jats:p>","DOI":"10.3390\/robotics11020049","type":"journal-article","created":{"date-parts":[[2022,4,13]],"date-time":"2022-04-13T23:07:16Z","timestamp":1649891236000},"page":"49","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1982-4993","authenticated-orcid":false,"given":"Richard L.","family":"Pratt","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department, Colorado School of Mines, 1500 Illinois St, Golden, CO 80401, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2070-4227","authenticated-orcid":false,"given":"Andrew J.","family":"Petruska","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Colorado School of Mines, 1500 Illinois St, Golden, CO 80401, USA"}]}],"member":"1968","published-online":{"date-parts":[[2022,4,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"S187","DOI":"10.1016\/S1353-8020(13)70044-0","article-title":"Where are we with surgical therapies for Parkinson\u2019s disease?","volume":"20","author":"Strauss","year":"2014","journal-title":"Park. 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