As one of neurological tests, needle electromygraphy exam (NEE) plays an important role to evaluate the conditions of nerves and muscles. Neurology interns and novice medical staff need repetitive training to improve their skills in performing the exam. However, no training systems are able to reproduce multiple pathological conditions to simulate real needle electromyogram exam. For the develo...

OBJECTIVE Pen needles used for subcutaneous injections have gradually become shorter, thinner and more thin walled, and thereby less robust to patient reuse. Thus, different needle sizes, alternative tip designs and needles resembling reuse were tested to explore how needle design influences ease of insertion, pain and skin trauma. RESEARCH DESIGN AND METHODS 30 subjects with injection-treate...

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 and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks ar...

This paper discusses the virtual prostate needle biopsy system and the construction of the virtual prostate model, considering the actual distribution of prostate abnormalities. A needle biopsy simulation is performed for the constructed virtual prostate, and the actual biopsy procedure in the clinical situation is evaluated. The prostate needle biopsy is a histologic diagnosis procedure in whi...

This work investigates the position control of an underactuated mechatronic system for straight needle insertions in soft tissues. The consists a pneumatic cylinder pushing slender supported at base and subject to external forces tip due interactions with dynamics is described by rigid-link model controller design purposes. main contribution this new energy shaping law that: (i) does not rely o...

To improve therapy research against cancer, we propose a robotized computer assisted system for needle insertion devoted to the small animal. The system is composed of a robotic arm on which the needle is attached and two cameras rigidly linked. It needs a preoperative CT acquisition in which the biologist defines an entry point and the target he wants to reach. The needle guidance is ensured b...