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Development of Veress Needle Insertion Robotic System and its experimental study for force acquisition in soft tissue

This paper presents a design and development of Veress Needle Insertion Force Sensing System, and a Veress Needle Insertion Robotic System for acquiring force data for soft tissue insertion. The study reports force data from veress needle insertions, measured to use in our Robot-Assisted Surgical System. The main goal of this work is to develop a virtual reality robotic surgical system which can provide accurate force feedback in laparoscopic surgery via a haptic device. The results from the needle insertion experiments presented, i.e., puncture force and friction force in fat, muscle, and the abdominal wall. These experiments can be applied to the study of all soft tissue and all needle types.