Design and Implementation of Needle Steering System

The insertion of a needle for many scientific researches is an important aspect to consider and is the simplest and most diagnostic of the medical and interventional procedures. In needle based medical procedures, a flexible needle is directed at the soft tissue to achieve a predefined target position. The efficiency of the needle insertion depends on the precise control of the tip of the needle. This article provides a complete mechanical model for inserting needles into soft tissues. The proposed needle insertion model depends on the insertion speed as the input, which can then be used as a needle direction control. The model considers the length of needle and bevel angle. Various experiments were performed that inserts a needle into biological tissue. The results show the accuracy of the proposed system at different application speeds with an error of up to 2 mm.