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Robotic Guidance of Flexible Needle for Percutaneous Therapy

Flexible needle insertion for percutaneous therapies is formulated in this paper as a trajectory planning problem of 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. It is shown that the needle base trajectory is not unique and can be optimized to minimize the lateral pressure of the needle body on the tissue. Experimental results of robotically-assisted flexible needle trajectory tracking are provided.