Penetration Force in Biopsy under Condition of Biomimetic Vibration

Biopsy is a common medical procedure to treat and diagnose prostate cancer and breast cancer. Needle insertion is a critical step in biopsy, but the inserting force has a big effect on precision of needle insertion. A new method is presented to reduce the penetration force, and then improve the precision of needle insertion in this paper. Preloaded piezo actuator was introduced to provide biomimetic vibration for needle during needle insertion into a pork liver, just as a fascicle insertion into the skin by a mosquito. The experimental results showed that the penetration force was reduced 26.7% compared with the force without biomimetic vibration.