Design, Modeling, and Evaluation of a Compact and Lightweight Needle End-effector with Simple Force-feedback Implementation for Robotic CT-guided Needle Interventions

  • Kiyoung Kim
  • Hyunsoo Woo
  • Jang Ho Cho
  • Jungwook SuhEmail author


We present a compact and lightweight two degrees-of-freedom (DOF) needle end-effector to be applied to a teleoperated needle interventional robotic system. The suggested needle end-effector is computerized tomography (CT)-compatible and easy to sterilize. Because the proposed needle end-effector can be attached to a robotic manipulator, the needle can translate into and rotate in the human body. In addition, a 1-axis load cell is attached to the needle end-effector to measure the longitudinal force applied to the needle. With this force measurement, force-feedback ability has been implemented in the entire master-slave robotic system. Basic performance tests of repeatability and maximum insertion force were performed. Several force-feedback experiments to determine free space response and contact response, as well as a discrimination test, were conducted. Through this verification process, the suggested needle end-effector was found to have potential for application in real environments that require robotic CT-guided needle interventions.


Force-feedback medical robot needle end-effector robotic CT-guided intervention 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  • Kiyoung Kim
    • 1
  • Hyunsoo Woo
    • 1
  • Jang Ho Cho
    • 1
  • Jungwook Suh
    • 2
    Email author
  1. 1.Department of Medical Assistant RoboticsKorea Institute of Machinery and Materials (KIMM)DaeguKorea
  2. 2.Department of Robot and Smart System EngineeringKyungpook National University (KNU)DaeguKorea

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