Needle insertion in soft tissue has attracted considerable attention in recent years due to its
application in minimally invasive percutaneous procedures such as biopsies and …

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 …

Purpose Research on surgical robotics demands systems for evaluating scientific
approaches. Such systems can be divided into dedicated and versatile systems. Dedicated …

Insertion behaviour of microneedle (MN) arrays depends upon the mechanical properties of
the skin and, MN geometry and distribution in an array. In addressing this issue, this paper …

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

Robot-assisted surgery is of growing interest in the surgical and engineering communities.
The use of robots allows surgery to be performed with precision using smaller instruments …

The mechanical interaction between the surgical tools and the target soft tissue is mainly
dictated by the fracture toughness of the tissue in several medical procedures, such as …

Needle based intervention procedures are a common minimally invasive surgical technique.
In many of these procedures, the needle can be considered rigid and the tissue deforms and …

In percutaneous needle insertions, cutting forces at the needle tip deflect the needle and
increases targeting error. Thus, modeling needle-tissue interaction in biological tissue is …

Robotic needle steering is a promising technique to improve the effectiveness of needle-
based clinical procedures, such as biopsies and ablation, by computer-controlled, curved …