Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement

We focused on a medical procedure, known as interventional radiology (IR), as the target of robotizing medical surgeries. IR is a general term for treatments that use devices to visualize patients’ bodies. Our developed robot, known as Zerobot, specializes in inserting a needle into patients under computer tomography (CT) guidance during surgery. Its surgery is less invasive, and effective in trea...