Human-Robot Interaction in Biopsy Procedures: A Biomimetic Dual-Sheath Needle Design Inspired by Insect Ovipositor Mechanics
Issued Date
2024-01-01
Resource Type
Scopus ID
2-s2.0-105004118178
Journal Title
Discovering the Frontiers of Human-Robot Interaction: Insights and Innovations in Collaboration, Communication, and Control
Start Page
401
End Page
417
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SCOPUS
Bibliographic Citation
Discovering the Frontiers of Human-Robot Interaction: Insights and Innovations in Collaboration, Communication, and Control (2024) , 401-417
Suggested Citation
Sivaraman D., Pillai B.M., Suthakorn J., Ongwattanakul S. Human-Robot Interaction in Biopsy Procedures: A Biomimetic Dual-Sheath Needle Design Inspired by Insect Ovipositor Mechanics. Discovering the Frontiers of Human-Robot Interaction: Insights and Innovations in Collaboration, Communication, and Control (2024) , 401-417. 417. doi:10.1007/978-3-031-66656-8_17 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/110037
Title
Human-Robot Interaction in Biopsy Procedures: A Biomimetic Dual-Sheath Needle Design Inspired by Insect Ovipositor Mechanics
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Abstract
This chapter presents a novel bioinspired dual-sheath needle design for precise targeting and tissue sampling in biopsy procedures within a human-robot interaction framework, inspired by the remarkable ovipositors of insects, such as wood and ichneumon wasps. Through comprehensive modeling techniques such as the Euler-Bernoulli beam theory, Timoshenko beam theory, and experimental vali-dations, biomimetic needle mechanics and kinematics are thoroughly investigated. Simulations evaluated the potential of this approach to improve targeting accuracy, reduce tissue trauma, and optimize procedural outcomes in robot-assisted biopsy interventions. The bioinspired dual-sheath design presents an innovative solution for precise and minimally invasive biopsy sampling by leveraging biomimicry and human-robot interactions.