Human–Robot Interaction in Biopsy Procedures: A Biomimetic Dual-Sheath Needle Design Inspired by Insect Ovipositor Mechanics

This chapter presents a novel bioinspired dual-sheath needle design for precise targeting and tissue sampling in biopsy procedures within a human–robot interaction framework, inspired by the remarkable ovipositors of insects, such as wood and ichneumon wasps. Through comprehensive modeling techniques such as the Euler–Bernoulli beam theory, Timoshenko beam theory, and experimental validations, biomimetic needle mechanics and kinematics are thoroughly investigated. Simulations evaluated the potential of this approach to improve targeting accuracy, reduce tissue trauma, and optimize procedural outcomes in robot-assisted biopsy interventions. The bioinspired dual-sheath design presents an innovative solution for precise and minimally invasive biopsy sampling by leveraging biomimicry and human–robot interactions.