Dynamic Path Planning for Bevel-Tip Flexible Needle Insertion into Soft Tissue Based on a Real-Time Finite Element Model

Table 2

Locations of obstacles 1–5 and the goal.

Obstacles and goal
	20.83	38.18	4.98
	55.38	39.87	5.13
	19.25	65.00	5.20
	20.75	68.00	4.89
	53.60	70.11	5.15
	52.66	97.64	5.08