On the use of discrete steps in robot-aided flexible needle insertion

摘要: Needle steering devices present great potential for improving the safety and accuracy of medical interventions with percutaneous access. Despite significant advances in field, needle steerability remains an issue to be solved by scientific community. In this paper, we propose use discrete steps flexible insertion, inspired manual procedure performed physicians. Conceptually, method relies alternating between two motions: grasp-push release-retreat. For experimental evaluation, a modified gripper is used along 6DOF robotic manipulator control insertion velocity, rotation grasping. Preliminary results indicate that minimizes some negative effects, such as slippage buckling, observed on alternative methods, while preserving their functional advantages.