Accurate needle targeting is critical for many clinical procedures, such as transcutaneous
biopsy or radiofrequency ablation of tumors. However, targeting errors may arise, limiting the …

Percutaneous needle insertion is amongst the most prevalent clinical procedures. The
effectiveness of needle-base interventions heavily relies on needle targeting accuracy …

Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks
of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently …

In the field of minimally invasive surgery, flexible needles can avoid blood vessels and
organs more flexibly compared to rigid needles. One of the main challenges when using …

Friction is an ever-present force in our lives, affecting the interaction between objects in
numerous ways. The common hypothesis of frictionless contact between a foreign rigid …

Fine needle deflection is a problem encountered during insertion into a soft tissue. Although
an axial rotational insertion is an effective approach for minimizing this problem, needle …

Global modelling has traditionally been the approach taken to estimate needle deflection in
soft tissue. In this paper, we propose a new method based on local data-driven modelling of …

Fine needles can easily be deflected, making accurate needle insertion into a tumor difficult.
In particular, it is difficult to insert the needle into a tumor in the lower abdomen because the …

Despite many successful studies so far, flexible bevel-tipped needle steering still has many
practical issues yet to be solved. One of them is the consideration of needle insertion into …

Percutaneous needle insertion constitutes a widely adopted technique for performing
minimally invasive operations. Robot-assisted needle placement and virtual surgical training …