  Prostate cancer diagnosis continues to encounter challenges, often due to
imprecise needle placement in standard biopsies. Several control strategies
have been developed to compensate for needle tip prediction inaccuracies,
however none were compared against each other, and it is unclear whether any of
them can be safely and universally applied in clinical settings. This paper
compares the performance of two resolved-rate controllers, derived from a
mechanics-based and a data-driven approach, for bevel-tip needle control using
needle shape manipulation through a template. We demonstrate for a simulated
12-core biopsy procedure under model parameter uncertainty that the
mechanics-based controller can better reach desired targets when only the final
goal configuration is presented even with uncertainty on model parameters
estimation, and that providing a feasible needle path is crucial in ensuring
safe surgical outcomes when either controller is used for needle shape
manipulation.
