Development of the needle-insertion system for path-error correction in liver environment using a CMTD(Curved Multi-Tubed Device)

The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (curved multi-tube device) which was developed by authors. A CMTD, which consists of a straight outer needle and a curved inner needle, was developed for minimally-invasive surgery and needle insertion. And we use ultrasound as a sensing device to detect the position of tumor and the orientation of the needle which is inserted into tumor. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body.