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The success rate of medical procedures involving needle insertion is often directly related to needle placement accuracy. Due to inherent limitations of commonly used freehand needle placement techniques, there is a need for a system providing for controlled needle steering for procedures that demand high positional accuracy. This paper describes a robotic system developed for flexible needle steering...
Flagellar swimming is one of the swimming methods used by micro-organisms to advance in aquatic environment. The undulating motion of the flagella was successfully imitated to create propulsion for a medical swimming micro robot. The influence of a head section on the performance of such a robot is shown analytically. Swimming experiments demonstrate forward and backward swimming of a novel magnetically...
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