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Real-Time Curvature Detection of a Flexible Needle with a Bevel Tip

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2018, 18(7), 2057;
Received: 25 April 2018 / Revised: 4 June 2018 / Accepted: 25 June 2018 / Published: 27 June 2018
(This article belongs to the Special Issue Sensors for MEMS and Microsystems)
PDF [7001 KB, uploaded 27 June 2018]


As one of the major methods for the diagnosis and treatment of cancers in their early stages, the percutaneous puncture technique has bright prospect in biopsy, ablation, proximity radiotherapy, and drug delivery. Recent years, researchers found the flexible needle cannot realize feedback control during the puncture surgeries only by path planning. To solve this problem, the flexible needle is tried to achieve real-time detection in this paper. Compared with previous methods, the strain gauges glued on the needle surface rather than the medical imaging techniques is used to collect the information to reconstruct the needle curve, which is benefit to integrate the whole system and obtain a more simple and accurate closed-loop control. This paper presented the math model of curve fitting and analyzed the causes of curve fitting errors. To verify the feasibility of this method, an experiment setup was built. Results from the experiments validated the solution in this paper to be effective. View Full-Text
Keywords: bevel-tip flexible needle; puncture; curvature detection bevel-tip flexible needle; puncture; curvature detection

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Zhang, B.; Chen, F.; Yang, M.; Huang, L.; Du, Z.; Sun, L.; Dong, W. Real-Time Curvature Detection of a Flexible Needle with a Bevel Tip. Sensors 2018, 18, 2057.

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