Human-Robot Interaction in Biopsy Procedures: A Biomimetic Dual-Sheath Needle Design Inspired by Insect Ovipositor Mechanics

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.