Analysis of multi-hinge compliant needle insertion

This article presents a multi-hinge compliant needle in minimally invasive surgery. This flexible needle has bevel tip and compliant hinges. The force acting on the bevel-tip surface can cause large turning curvature and turn angle. A feasible algorithm for path control of the needle thrusting is developed. A detail explanation of the algorithm is given. The main objectives of this algorithm are to control the needle thrusting trajectory and to avoid collision with the important organs and nerves in the human body while insertion.