A generic three-dimensional static force distribution basis for a medical needle inserted into soft tissue.

In this paper, the static interaction forces between a medical needle and soft tissue during CT (Computerized Tomography) guided insertion are studied. More precisely a set of linearly independent elements describing the forces (a basis) is identified. This forms a generic basis from which any forces that act on a static needle (that is not fixed at its base and that is inserted into human tissue) can be described accurately.

Interventional radiology robot for CT and MRI guided percutaneous interventions.

This paper introduces a new patient-mounted CT and MRI guided interventional radiology robot for percutaneous needle interventions. The 5 DOF robot uses ultrasonic motors and pneumatics to position the needle and then insert it progressively. The needle position and inclination can be registered in the images using two strategically placed fiducials visible in both imaging modalities.