Method with repeated extraction-insertion cycles to improve the needle insertion accuracy

Shao Hua Zhang, Xin Jin*, Zhi Jing Zhang, Xin Ye, Bing Bing Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

In order to improve the effectiveness of percutaneous diagnosis and therapies, the needle insertion into the deforming soft and inhomogenous tissue should be accurate. In this study a needle with 6 degrees of freedom force/torque sensor is used to find the relationship between the pathway's length and the force. Our experiments show that the method with repeated extraction-insertion cycles can make the needle approach the target as much as possible. Meanwhile a method to obtain the appropriaterepeated extraction-insertion cycles is given to drive the needle to execute the repeated cycles efficiently. Experiments and discussions were conducted to preliminarily validate the method.

Original languageEnglish
Pages (from-to)324-329
Number of pages6
JournalJournal of Beijing Institute of Technology (English Edition)
Volume22
Issue number3
Publication statusPublished - Sept 2013

Keywords

  • Force feedback
  • Misplacement elimination
  • Needle insertion
  • Soft tissue deformation

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