Controllable Motorized Devices for Accurate Percutaneous Needle Placement in Soft Tissue Target

摘要

Some mechanisms for accurate percutaneous needle placement in soft tissue target are presented in this paper. The mechanisms ensure the rotation of the needle simultaneously with the translation. The devices can be used with fluoroscopy, X-ray or CT (CAT-scan, or computed tomography) guidance in image guided surgery, biopsy as well as interventional therapy. Introduction of needle rotation simultaneously with translation motion significantly reduces the needle insertion force into soft tissue, which results in less needle deflection