Hollow Needles

Considering the high variability in stiffness and frictional forces and varying tissue deflection, a sensing mechanism close to the needle tip may be advantageous compared to measuring the force at the base of the needle holder. Because the mechanical properties of tumors differ from healthy tissue, it may be useful to observe small local changes. This can be lost when other variables like friction are involved. Furthermore, during endoscopy, it is difficult to measure the force at the base of the needle hub. We extend previous work to estimate needle-tissue interaction forces using FBG sensors, limited to hollow needles.

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