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Title: Modeling and simulation of an active robotic device for flexible needle insertion
Keywords: medical robotic, flexible needle insertion, robotic simulation, mechanism design, SimMechanics
Issue Date: 4-Dec-2009
Citation: NADER HAMZAVI ZARGHANI (2009-12-04). Modeling and simulation of an active robotic device for flexible needle insertion. ScholarBank@NUS Repository.
Abstract: Minimally Invasive Surgery (MIS) is more efficient than open surgery because the recovery and hospitalization time of MIS is considerably less than conventional surgical techniques. An active robotic needle is proposed for flexible needle insertion in MIS. The active needle is designed to improve flexibility and reachability of needle insertion. With the active needle, we hope to achieve the flexibility to reach otherwise inaccessible clinical targets. We have investigated the kinematics and dynamics of the active needle. Based on a flexible swim-wave travelling path, we developed a new path planning algorithm for the active needle. The needle insertion path could be modified in accordance with the needle-tissue interaction force. We determine the optimal needle insertion path using energy minimization method. This is based on the hypothesis that an optimal path will transfer the minimum energy to the surrounding tissue and hence, cause less tissue injury. Simulation based design methodology is used in this study. A computer aided design model of the active needle is developed using Solidworks. The sophistical active needle model is then exported to SimMechanics and Matlab for computer simulation of its interaction with the biological tissue during needle insertion. The active needle prototype has been fabricated for experimental investigation. The feasibility of the active needle prototype is demonstrated. The active needle is motorized with two actuators for forward and swim wave motions. The active needle comprises the main body and the closed-loop mechanism. The closed-loop mechanism is a driving system which produces swim-wave motion of the active needle. This mechanism enables the active needle to be sufficiently small for MIS. We have found that the active needle can be steered towards the predefined targets accurately. Although we have demonstrated theoretically and experimentally the feasibility of the active needle for flexible needle insertion,further study will be required to determine the clinical viability of the proposed active needle device.
Appears in Collections:Master's Theses (Open)

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