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A survey of needle steering approaches in minimally invasive surgery
In virtue of a curved insertion path inside tissues, needle steering techniques have revealed
the potential with the assistance of medical robots and images. The superiority of this …
the potential with the assistance of medical robots and images. The superiority of this …
Robotic needle steering: state-of-the-art and research challenges
Medical robotics is an interdisciplinary field that came into existence to improve medical
procedures utilizing robotics technology. Medical robotics range from minimally invasive …
procedures utilizing robotics technology. Medical robotics range from minimally invasive …
A flexure-based steerable needle: high curvature with reduced tissue damage
In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been
one of the most successful approaches yet proposed. However, the price to be paid for …
one of the most successful approaches yet proposed. However, the price to be paid for …
Design, fabrication, and testing of a needle-sized wrist for surgical instruments
This paper presents a miniature wrist that can be integrated into needle-sized surgical
instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a …
instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a …
Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach
Detailed finite element modelling of needle insertions into soft tissue phantoms encounters
difficulties of large deformations, high friction, contact loading and material failure. This …
difficulties of large deformations, high friction, contact loading and material failure. This …
Mechanisms of ovipositor insertion and steering of a parasitic wasp
Drilling into solid substrates with slender beam-like structures is a mechanical challenge, but
is regularly done by female parasitic wasps. The wasp inserts her ovipositor into solid …
is regularly done by female parasitic wasps. The wasp inserts her ovipositor into solid …
A continuum robotic cannula with tip following capability and distal dexterity for intracerebral hemorrhage evacuation
Objective: This paper aims to investigate a new continuum robot design and its motion
implementation methods appropriate for a minimally invasive intracerebral hemorrhage …
implementation methods appropriate for a minimally invasive intracerebral hemorrhage …
Closed-loop planar motion control of a steerable probe with a “programmable bevel” inspired by nature
Percutaneous intervention has attracted significant interest in recent years, but many of
today's needles and catheters can only provide limited control of the trajectory between an …
today's needles and catheters can only provide limited control of the trajectory between an …
Structures, properties, and functions of the stings of honey bees and paper wasps: a comparative study
Through natural selection, many animal organs with similar functions have evolved different
macroscopic morphologies and microscopic structures. Here, we comparatively investigate …
macroscopic morphologies and microscopic structures. Here, we comparatively investigate …
An adaptive finite element model for steerable needles
Penetration of a flexible and steerable needle into a soft target material is a complex
problem to be modelled, involving several mechanical challenges. In the present paper, an …
problem to be modelled, involving several mechanical challenges. In the present paper, an …