Experimental Testing and Implementation of a Force – Torque Sensor in Automated Percutaneous Needle Insertion Instruments

The paper aims to describe the forces and torques that appear during the percutaneous needle insertion (through in vivo laboratory experiments) and investigate the benefits of a force/torque sensor integrated on an automated needle insertion instrument used as a robot end-effector. Based on the experimental results, several events occurring during the needle insertion were identified and described. Furthermore, a solution to implement a force/torque sensor into a needle insertion instrument was proposed.