Magnetic force aided compliant needle navigation and needle performance analysis

Needle based surgery is a less invasive surgical technique. The insertion of a long and slender needle into the complicated human body is a very challenging procedure, especially for cases where obstacle avoidance is required. In this paper, a compliant needle is designed to achieve the purpose of obstacle avoidance and path planning task. The compliant needle head can be deflected by a magnetic force aided method which helps to achieve a more flexible turning angle in 3D space navigation. The buckling effect of needle during insertion is investigated as well. By choosing an appropriate length and radius combination of a needle, the buckling effect can be avoided to achieve a more stable insertion.