The development of needles, needle–insertion simulators, and needle-wielding robots for
use in a clinical environment depends on a thorough understanding of the mechanics of …

Numerous medical devices have been applied for the treatment or alleviation of various
diseases. Tribological issues widely exist in those medical devices and play vital roles in …

We present a prototype of a flexible nitinol needle (φ 1.0 mm and length 172 mm) integrated
with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial …

Needle insertion procedures are commonly used for surgical interventions. In this paper, we
develop a three-dimensional (3D) closed-loop control algorithm to robotically steer flexible …

Needle insertion is commonly performed in minimally invasive medical procedures such as
biopsy and radiation cancer treatment. During such procedures, accurate needle tip …

Needle insertion procedures are commonly used for diagnostic and therapeutic purposes. In
this paper, an image-guided control system is developed to robotically steer flexible needles …

We present a haptic teleoperation system capable of steering flexible needles under
ultrasound imaging toward a target. With respect to similar works, this approach enables …

A minimally invasive system comprises an elongate instrument that includes a flexible
proximal portion, a rigid distal portion, and a lumen extending from a proximal end to a distal …

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 …

Active needles demonstrate improved accuracy and tip deflection compared to their passive
needle counterparts, a crucial advantage in percutaneous procedures. However, the ability …