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Steerability and Kinematics of Bevel-Tip Flexible Needle

[+] Author Affiliations
Dedong Gao

Zhejiang University, Hangzhou, ChinaQinghai University, Xining, China

Yong Lei

Zhejiang University, Hangzhou, China

Bin Yao

Zhejiang University, Hangzhou, ChinaPurdue University, West Lafayette, IN

Qiang Li, Huiquan Bai

Qinghai University, Xining, China

Paper No. MSEC2015-9268, pp. V002T03A002; 8 pages
  • ASME 2015 International Manufacturing Science and Engineering Conference
  • Volume 2: Materials; Biomanufacturing; Properties, Applications and Systems; Sustainable Manufacturing
  • Charlotte, North Carolina, USA, June 8–12, 2015
  • Conference Sponsors: Manufacturing Engineering Division
  • ISBN: 978-0-7918-5683-3
  • Copyright © 2015 by ASME


Steerable flexible needles with bevel-tip are designed for many medical diagnoses and treatments. In this paper we present a new kinematic model for the bevel-tip flexible needle. Based on the analysis of needle deflection, the procedure of needle insertion can be decomposed of n sub-procedures, which are independent on the depth of insertion. In each sub-procedure, the tip is steered though the base to generate three motions with respect to the body-frame Oxiyizi: the rotation about zi, the translation along zi and the rotation about yi. The kinematics of flexible needle with bevel-tip is presented using the Denavit-Hartenberg method. The inverse kinematics of needle insertion is derived from the kinematic equation of flexible needle. The solution sets are discussed for the insertion consisting of consecutive rotation and insertion control actions. Furthermore, how to select suitable insertion position and orientation is discussed.

Copyright © 2015 by ASME
Topics: Kinematics , needles



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