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Variable-Curvature Bending Characteristic and Kinematic Model of Cannula Flexible Needle.

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Τίτλος: Variable-Curvature Bending Characteristic and Kinematic Model of Cannula Flexible Needle.
Συγγραφείς: Zhang H; Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China., Zhao YJ; Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China.; Weihai Research Institute, Harbin University of Science and Technology, Weihai, Shandong, China., Zhang YD; Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China., Wang L; Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China., Jin YX; Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China., Pei YY; Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China.
Πηγή: The international journal of medical robotics + computer assisted surgery : MRCAS [Int J Med Robot] 2026 Aug; Vol. 22 (4), pp. e70205.
Τύπος έκδοσης: Journal Article
Γλώσσα: English
Στοιχεία περιοδικού: Publisher: Wiley Country of Publication: England NLM ID: 101250764 Publication Model: Print Cited Medium: Internet ISSN: 1478-596X (Electronic) Linking ISSN: 14785951 NLM ISO Abbreviation: Int J Med Robot Subsets: MEDLINE
Imprint Name(s): Publication: 2006- : West Sussex, England : Wiley
Original Publication: Ilkley, UK : Robotic Publications, c2004-
Ιατρικοί όροι (MeSH): Minimally Invasive Surgical Procedures*/instrumentation , Minimally Invasive Surgical Procedures*/methods , Needles* , Cannula*, Biomechanical Phenomena ; Equipment Design ; Humans ; Reproducibility of Results
Περίληψη: Background: Compared with the conventional bevel-tip flexible needles, the cannula flexible needle has a superiority in terms of agility. To improve the insertion accuracy of the cannula flexible needle in the soft tissue, the variable-curvature bending characteristics were explored and a kinematic model was developed.
Methods: This paper identified the parameters that influence the needle bending using a combination of the dimensional analysis theory and the equivalent stiffness method. Based on this, a kinematic model was established considering the deviation and rebound of the needle shaft. Verification experiments with the different stylet extension lengths for the flexible needle were conducted. Moreover, the single-arc and the double-arc insertion experiments were performed.
Results: The results showed that all errors were within 2 mm, which met the accuracy requirements of general clinical surgery.
Conclusions: The rationality and accuracy of the proposed variable-curvature bending characteristic model and the kinematic model are validated by experiments.
(© 2026 John Wiley & Sons Ltd.)
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Grant Information: 52275015 National Natural Science Foundation of China; U23A20391 Regional Joint Fund of the National Natural Science Foundation of China; ZR2023ME132 Natural Science Foundation of Shandong Province of China
Contributed Indexing: Keywords: cannula flexible needle; kinematics model; minimally invasive surgery; variable‐curvature bending characteristic
Entry Date(s): Date Created: 20260709 Date Completed: 20260709 Latest Revision: 20260709
Update Code: 20260709
DOI: 10.1002/rcs.70205
PMID: 42423203
Βάση Δεδομένων: MEDLINE
Περιγραφή
ISSN:1478-596X
DOI:10.1002/rcs.70205