Force modeling, identification, and feedback control of robot-assisted needle insertion: a survey of the literature

C Yang, Y Xie, S Liu, D Sun - Sensors, 2018 - mdpi.com
Robot-assisted surgery is of growing interest in the surgical and engineering communities.
The use of robots allows surgery to be performed with precision using smaller instruments …

A computational multilayer model to simulate hollow needle insertion into biological porcine liver tissue

MG Jushiddi, A Mani, C Silien, SAM Tofail, P Tiernan… - Acta Biomaterialia, 2021 - Elsevier
Modelling of needle insertion in soft tissue has developed significant interest in recent years
due to its application in robot-assisted minimally invasive surgeries such as biopsies and …

Assessment of needle–tissue force models based on ex vivo measurements

M Trączyński, A Patalas, K Rosłan, M Suszyński… - Journal of the …, 2024 - Elsevier
Needle insertion is one of the most common procedures in clinical practice. Existing
statistics reveal that success rates of needle insertions can be low, leading to potential …

Research and application of a teaching platform for combined spinal-epidural anesthesia based on virtual reality and haptic feedback technology

T Zheng, H Xie, F Gao, C Gong, W Lin, P Ye, Y Liu… - BMC Medical …, 2023 - Springer
Background Intraspinal anesthesia poses significant teaching challenges and inadequate
teaching resources, which ultimately limit students' opportunities for practice. To address this …

Estimation of the friction force during the needle insertion using the disturbance observer and the recursive least square

Y Fukushima, K Naemura - Robomech Journal, 2014 - Springer
Needle insertion can be performed with the aid of an ultrasound (US) image. Detecting the
position of a needle in a US image requires considerable technical expertise. To detect …

Developing a novel force forecasting technique for early prediction of critical events in robotics

M Narayan, AM Fey - PloS one, 2020 - journals.plos.org
Safety critical events in robotic applications can often be characterized by forces between
the robot end-effector and the environment. One application in which safe interaction …

Needle inserts into soft tissue: Basic technical aspects

M Lu, CM Lim, H Ren - Handbook of Robotic Surgery, 2025 - Elsevier
Needle insertion plays a critical role in modern surgical operations, especially in minimally
invasive surgery (MIS). Image-guided needle biopsy and insertion of needles for drug …

Development of a Wearable Patch Forglucosemonitoring and Insulin Delivery

NN Ahmad - 2024 - search.proquest.com
The development of a closed-loop artificial pancreas system that mimics the function of the
real human pancreas has greatly improved the quality of life for those living with diabetes …

Ultrasound-guided Needle nerve contact positions detection in Regional Anaesthesia using Needle tip force and Opening injection pressure

S Zhang, P Qiao, Z Huang, C Xia - Journal of Physics …, 2020 - iopscience.iop.org
Ultrasound imaging guidance has been widely used in peripheral nerve block to guide the
anaesthetist to insert the needle and observe injection fluid diffusion. However, needle …

Needle-tissue interaction force study during simulated regional anaesthesia

S Zhang, P Qiao, Z Huang, C Xia - Journal of Physics …, 2020 - iopscience.iop.org
Needle insertion usually performed with the aid of an Ultrasound (US) image in the regional
anaesthesia. Getting the position of the needle tip from US requires the technical expertise …