Vibrating needle insertion for trajectory optimization

Minimally invasive percutaneous medical procedures are widely accepted in current clinical practice. However, with current technologies, the procedures are challenging and a high level of expertise is required to perform them successfully. In many of these procedures, the needle and the tissue deforms and displaces substantially as the needle is advanced to its target. This paper presents a novel approach to reduce the tissue displacement and the needle insertion trajectory error by combining a vibrating mode with continuous low velocity needle insertion mode. And a new way to modeling this vibrating insertion is proposed. Through theoretical analysis, the tissue and needle equative rigidity can be greatly improved. Preliminary experimental results verify that the deformation error can be greatly reduced if suitable kinetic parameters are being chosen.