Steerable flexible needles with bevel-tip are designed for many medical diagnoses and treatments. In this paper we present a new kinematic model for the bevel-tip flexible needle. Based on the analysis of needle deflection, the procedure of needle insertion can be decomposed of n sub-procedures, which are independent on the depth of insertion. In each sub-procedure, the tip is steered though the base to generate three motions with respect to the body-frame Oxiyizi: the rotation about zi, the translation along zi and the rotation about yi. The kinematics of flexible needle with bevel-tip is presented using the Denavit-Hartenberg method. The inverse kinematics of needle insertion is derived from the kinematic equation of flexible needle. The solution sets are discussed for the insertion consisting of consecutive rotation and insertion control actions. Furthermore, how to select suitable insertion position and orientation is discussed.
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ASME 2015 International Manufacturing Science and Engineering Conference
June 8–12, 2015
Charlotte, North Carolina, USA
Conference Sponsors:
- Manufacturing Engineering Division
ISBN:
978-0-7918-5683-3
PROCEEDINGS PAPER
Steerability and Kinematics of Bevel-Tip Flexible Needle Available to Purchase
Dedong Gao,
Dedong Gao
Zhejiang University, Hangzhou, China
Qinghai University, Xining, China
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Bin Yao,
Bin Yao
Zhejiang University, Hangzhou, China
Purdue University, West Lafayette, IN
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Huiquan Bai
Huiquan Bai
Qinghai University, Xining, China
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Dedong Gao
Zhejiang University, Hangzhou, China
Qinghai University, Xining, China
Yong Lei
Zhejiang University, Hangzhou, China
Bin Yao
Zhejiang University, Hangzhou, China
Purdue University, West Lafayette, IN
Qiang Li
Qinghai University, Xining, China
Huiquan Bai
Qinghai University, Xining, China
Paper No:
MSEC2015-9268, V002T03A002; 8 pages
Published Online:
September 25, 2015
Citation
Gao, D, Lei, Y, Yao, B, Li, Q, & Bai, H. "Steerability and Kinematics of Bevel-Tip Flexible Needle." Proceedings of the ASME 2015 International Manufacturing Science and Engineering Conference. Volume 2: Materials; Biomanufacturing; Properties, Applications and Systems; Sustainable Manufacturing. Charlotte, North Carolina, USA. June 8–12, 2015. V002T03A002. ASME. https://doi.org/10.1115/MSEC2015-9268
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