Minimally invasive interventional techniques are widely used in clinical diagnostic and
therapeutic medicine in place of surgical interventions because of several advantages,
including safety and reduced cost and time. Common to all minimally invasive techniques is
the relatively small port of entry to the body and the use of a fixed-or flexible-shape small
tool. In diagnostic procedures the tool is a sampling probe, and in therapeutic procedures it
is a miniature surgical device. Usually, before performing a minimally invasive procedure …