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 …

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

This paper presents a robot-assisted approach for automatic steering of flexible beveled
needles in percutaneous procedures. The method uses duty-cycled rotation of the needle to …

This work develops a needle insertion force model based on fracture mechanics, which
incorporates the fracture toughness, shear modulus, and friction force of the needle and …

Background Image‐guided robots are manipulators that operate based on medical images.
Perhaps the most common class of image‐guided robots are robots for needle interventions …

Background and Aims There are currently no prospective, controlled trials of needle
puncture speed in EUS-guided FNA (EUS-FNA). In this study, we prospectively evaluated …

This paper presents a new needle path planning method for the insertion of rigid needles
into deformable tissue. The needle insertion point, needle heading, and needle depth are …

Soft tissue displacements during minimally invasive surgical procedures may cause target
motion and subsequent misplacement of the surgical tool. A technique is presented to …

Needle insertion simulators find use in a number of medical interventions, such as prostate
brachytherapy. A needle insertion simulator has three main components: the needle model …