Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage

Ryosuke Tsumura, Yusuke Takishita, Hiroyasu Iwata

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


Because fine needles can easily be deflected, accurate needle insertion is often difficult. Lower abdominal insertion is particularly difficult because of less imaging feedback; thus, an approach for allowing a straight insertion path by minimizing deflection is beneficial in cases of lower abdominal insertion. Although insertion with axial rotation can minimize deflection, the rotational insertion may cause tissue damage. Therefore, we established a novel insertion method for minimizing both deflection and tissue damage by combining rotation and vibration. Using layered tissues, we evaluated the effect of a combination of rotation and vibration in terms of deflection and tissue damage, which were measured by the insertion force and torque, and the area of the hole created by the needle using histological tissue sections to measure tissue damage. The experimental results demonstrated that insertion with unidirectional rotation is risky in terms of tissue wind-up, while insertion with bidirectional rotation can decrease deflection and avoid wind-up. We also found that insertion with vibration can decrease the insertion force and torque. Therefore, insertion with a combination of bidirectional rotation and vibration can minimize needle deflection and tissue damage, including the insertion force and torque and the hole area.

Original languageEnglish
Article number1842005
JournalJournal of Medical Robotics Research
Issue number1
Publication statusPublished - 2019 Mar 1


  • deflection
  • Needle insertion
  • tissue damage

ASJC Scopus subject areas

  • Biomedical Engineering
  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Applied Mathematics


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