A Novel Force Sensing Biopsy Needle for MR-Compatible Robotic Biopsy System: Performance Evaluation
摘要
A force-sensing biopsy needle embedded with Fiber Bragg Grating (FBG) sensors is proposed to be used in cancer diagnosis. The FBG sensor is a fiber optic sensor, and the biopsy needle is made of nitinol, both of which can be used in MRI-guided biopsy to provide force feedback to surgeons. The axial force resolution of the biopsy needle is as high as 8.4 mN/pm, and its repeatability was measured to be 19 mN. The dynamic force measurement performance of the needle was verified by animal meat insertion experiment.