Tiny Needle-Driving Robot
Israelis Develop Tiny Needle-Driving Robot
16:57 Apr 19, '05 / 10 Nisan 5765
The new needle will allow a surgeon to bypass obstacles in the needle's path and safely reach its objective within the body.
"We are talking about driving a flexible needle," says doctoral student Daniel Glozman. He developed the steering algorithm under the guidance of Prof. Moshe Shoham of the Faculty of Mechanical Engineering at the Technion.
"For example, when a physician wants to take a biopsy, he sticks the needle into the body and extracts the biopsy,” Glozman said. “But the skin, the muscle and the patient himself move during the process and therefore it is difficult to get the needle exactly to the target. There may also be blood vessels in the way that have to be maneuvered around. Our development will solve these problems."
Technical details...
Flexible needle insertion into viscoelastic tissue is formulated by a linear beam supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can be computed for any desired needle tip path.
Arutz Sheva - Israel National News
16:57 Apr 19, '05 / 10 Nisan 5765
The new needle will allow a surgeon to bypass obstacles in the needle's path and safely reach its objective within the body.
"We are talking about driving a flexible needle," says doctoral student Daniel Glozman. He developed the steering algorithm under the guidance of Prof. Moshe Shoham of the Faculty of Mechanical Engineering at the Technion.
"For example, when a physician wants to take a biopsy, he sticks the needle into the body and extracts the biopsy,” Glozman said. “But the skin, the muscle and the patient himself move during the process and therefore it is difficult to get the needle exactly to the target. There may also be blood vessels in the way that have to be maneuvered around. Our development will solve these problems."
Technical details...
Flexible needle insertion into viscoelastic tissue is formulated by a linear beam supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can be computed for any desired needle tip path.
Arutz Sheva - Israel National News
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9:25 AM
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