Modeling of Thrusting Trajectory for Articulated Needle

摘要

Comparing with the needles having been studied previously, an articulated needle is more flexible and easier to be steered. In this paper, the sections of an articulated needle are assumed as rigid rods, and an articulated needle is simplified as a spatial linkage mechanism with open link chain. The positions and poses of needle sections are analyzed using the kinematic principle of series robots. The transformation matrixes of positions and pose of needle sections are calculated. A series of coordinate positions of needle sections are got and used to analyze the inserting trajectories of an articulated needle.