High-Fidelity Modelling for Robotic-Assisted Minimally Invasive Needle Insertion

Precise needle insertion is an important procedure in many medical diagnoses, treatments and various minimally invasive surgeries. Current clinical practice of surgical needle insertion is a difficult, time-consuming and delicate procedure. This multi-disciplinary project aims to investigate fundamental issues in soft tissue modelling and measurement of tissue properties, together with planning and control for robotic-assisted minimally invasive needle insertion. It also aims to establish high-fidelity soft tissue modelling and advanced methodologies for dynamic measurement of tissue properties and precise control of robotic needle insertion. The research is also expected to establish new instrumentation for minimally invasive surgery.