High Frequency Translational Oscillation & Rotational Drilling of the Needle in Reducing Target Movement

Flexible instrument insertion is one of the most commonly performed procedures in percutaneous surgery. Target movement caused by tissue deformation results in targeting inaccuracy no matter how well the initial planning is. Various efforts have been put into modeling the tissue deformation to predict the target movement. This paper investigates two approaches in reducing the target movement physically. One is high frequency translational oscillation of the needle. The other is rotational drilling of the needle. Experiments have been carried out accordingly to test these hypotheses. From the results, we can see that both methods can reduce the target movement effectively