This paper presents development of an end-effector for needle insertion-typed intervention and its teleoperation. The end-effector, which is a component of needle intervention robot system, has two degree of freedom rotation about an entry point on th...
This paper presents development of an end-effector for needle insertion-typed intervention and its teleoperation. The end-effector, which is a component of needle intervention robot system, has two degree of freedom rotation about an entry point on the patients body and translation for needle insertion. In addition, a needle cartridge containing a few needles rotates itself and rotates needles inside its chamber. The former is designed for multiple tissue sampling and the latter is for change of the direction of notch in the needle. A 3D model satisfying aforementioned functions is designed and a prototype is made. A master-slave system is also built. In the system, the end-effector is the slave and a commercial haptic device plays a role of the master. The functional test shows that the end-effector mimics well motion of the input device.