Needle Insertion System for Liver and subclavian-vein with Curved-Multi-Tube System

摘要

The goal of our study is to develop a needle insertion system for liver and subclavian vein. The system will perform needle insertion procedure automatically and precisely in a few seconds. We design Curved-Multi-Tube System( CMT System ), which has strait outer tube and curved inner needle. The curved inner needle is put though strait tube, which is used as combined needle. The tip of the bented needle moves along both straight path and curved path by taken in and out the tube. The error which arises in the movement of needle will be corrected with the combined needle. We will verify performance of the system in the near future.