Experimental study of robotic needle insertion in soft tissue

Abstract

In the procedures that involve needle insertion such as prostate brachytherapy, it is important to reduce tissue deformation before puncture and during insertion. In order to reduce this deformation, we have studied the effect of axial rotation of the needle during insertion. Different methods for rotational motion were compared and the results show that axial rotation can reduce frictional forces as well as tissue indentation before puncturing.