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 language | English |
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Pages (from-to) | 324-329 |
Number of pages | 6 |
Journal | Journal of Beijing Institute of Technology (English Edition) |
Volume | 22 |
Issue number | 3 |
Publication status | Published - Sept 2013 |
Keywords
- Force feedback
- Misplacement elimination
- Needle insertion
- Soft tissue deformation