Sivaraman D.Pillai B.M.Suthakorn J.Ongwattanakul S.Mahidol University2025-05-102025-05-102024-01-01Discovering the Frontiers of Human-Robot Interaction: Insights and Innovations in Collaboration, Communication, and Control (2024) , 401-417https://repository.li.mahidol.ac.th/handle/20.500.14594/110037This 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.Biochemistry, Genetics and Molecular BiologyComputer ScienceEngineeringBook ChapterSCOPUS10.1007/978-3-031-66656-8_172-s2.0-105004118178