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Detection of internal puncture during manual needle insertion is challenging due to the large friction force between a needle shaft and surrounding tissue, which masks small changes in force at the needle tip. A novel robotic coaxial needle insertion assistant was developed to enhance operator perception during epidural puncture. The coaxial needle separates the cutting force at the needle tip from...
During needle insertion in soft tissue, detection of change in tissue properties is important both for diagnosis to detect pathological tissue and for prevention to avoid puncture of important structures. The presence of a membrane located deep inside the tissue results in a relatively small force variation at the needle tip that can be masked by relatively large friction force between the needle...
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