Applications of needle insertion with rotating capability in manipulator

The success of medical needle insertion procedures often depends on success of medial needle guidance to a specific target in soft tissue. In this paper application of needle steering with the ability of rotating in the manipulator investigated. For this purpose the mechanism of rotation presented here to obtain all directions of the motion and not to face with polygonal obstacles, which could be bone or sensitive tissue such as nerves or arteries. The mechanism of end-effecter equipped with the use of one degree of freedom for rotational motion and another for linear motion. General capability for hanging any type of needle in different sizes created.